The biggest problem with playing as Sonic's pals is that most of the time, they aren't that fun to play with. Nobody here is going to say "I enjoyed playing as Big the Cat in Sonic Adventure." My argument has been "if you want me to play as Tails, make a sequel to "Tails Adventures(GG), if you want me to play as Knuckles, make a sequel to "Knuckles Chaotix (32x)." Imagine playing Super Mario Galaxy, playing a few stages as Mario, then having to go back and play through those same levels as another character with slower moves and weaker attacks (see Tails's ring box in Sonic06).
Now the Advance series on the GBA had the right idea, it allowed you to choose who you wanted to play with but didn't force you to play with Amy, Knuckles, etc. This I liked because it encouraged some replayability but didn't force you to play through the same stages again. Why the 3D games don't do this is beyond me.
You mentioned Super Paper Mario, yes, while it let you swap between Mario, Peach, Bowser and Luigi, for the majority of the time you were still Mario because he had the most vital ability and I found myself only using the others when their abilities were needed with the exception of using Bowser to blow through harder enemies. If a Sonic game allowed you to change out characters simultaneously to perform certain tasks, this might be accepted as well. We saw something along those lines in Sonic Heroes which did try to stay true to the old 2D format and I didn't mind the team aspect but then the game made you play through the same game four times when it would've been better to have a longer game where you just played as Sonic, Tails and Knuckles.
Now with the upcoming Sonic Chronicles we will play as Sonic's pals, but in that format it works. For JRPGs you always have a party of multiple characters, so in this case, it will work and playing as Sonic's friends won't slow down the gameplay.
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