PSO2 is nice looking and all, but I really miss the old class designs. Maybe it's just nostalgia coloring my view, but there's just a charm to them I really like. CASTs were still cute as full robots.
But thats kinda the whole thing. CASTs were never full robots so its only natural for them to become more humanoid with each iteration.
That said, there were definitely times when they LOOKED more like full robots but I think that was simply a matter of fulfilling stereotype requirements. (Did the RAcast really need to look THAT blocky in PSO?)