I think it's brilliant. Now I'm near the end and I know the characters better (and have forgotten about the old, much-loved ones) I think they're perfectly fine. I mean, I don't think they're quite as good as the first three games' characters, but only because they were superbly crafted and gave us the extremes of the races. That said, Peebee is much more interesting than Liara. I do miss Joker though. Can't take anything away from the ones here though, as I've clearly developed a bond with them as some of the choices I've had to make have been really tough
It must be a PS4 thing with the dodgy character models, I've had zero issues on the PC.