I don't think anyone here has really gone over how much better Setsuna could be with piloting the Exia. He certainly isn't the Neji Hyuuga of Gundams in 00. He could stand to be swifter and have more grace, as well as have quicker reactions.
As far as the design of the Exia... Well there are improvements that could be made, but things are as they are and like the saying goes, "if it ain't broke, don't fix it."
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