I really loved the film.
in no way, shape or form would i say that it lacked 'heart'.
It had humour, it had gravitas, it had action. Sure, the characters aren't as ... loveable(?) as TFA, but that's because they're flawed and they barely have an entire movie to build a relationship to the audience.
It's a wonderfully made companion piece to ANH, much more than it bridges a gap between Episodes III and IV.
gonna watch it again as soon as i can.
Right now, i'd put it on an equal level as TFA, because it's just a ... different movie.
It's pretty much ESB > ANH > TFA = ROTJ = RO >>>>>>>> PM > RotS > AotC
for me, right now...