The only way I'd compare this game to Xenoblade is in how Xenoblade does basically everything much, much better. Which is especially shameful for XV, as Xenoblade came out before proper development really started and they took no lessons from it.
Aside from the narrative, what did XC really do significantly better?
The combat in XC is slow, lacks spectacle, and is really formulaic. Plenty of moves that would be useless if not for long cooldowns.
The sidequests are probably the most ridiculous thing in the game. Characters throw 20 of them at you in every village and 90% of them are just fetch/kill quests with no window dressing.
The worlds are kind of a wash for me. XC had those annoying collectibles that were, iirc, randomly spawned with some environmental factors. It did have some cool side monsters, but most of them were pointless.
I will definitely give XC the towns. XV is fairly threadbare in that department. I really hated the timed NPC part of XC, but that's a different issue.
Music is more subjective, but I prefer XV's OST.
Characters? I suppose it depends on how much you liked the bros but it could really go either way for me. Obviously the side characters all needed more screentime in XV.