The party swap interface and the transformation menus could really use some streamlining. I don't want to have to swap someone into my party just to check their stats, and I think the transformation menus could be reduced to one menu with every option. I gave up shortly after getting Tarnhelm for this very reason, so there might be more menus later on with similar problems.
It's annoying not being able to see what status effects either side has in battle.
I'd also appreciate a world map, but It's not that big of a problem.