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I liked the rivals of XY. Having them follow me for the first few routes made me feel like I was actually on a journey with THEM, rather than going it alone and occasionally bumping into my rival like the past 5 gens.
Naturally there were flaws, such as Trevor always losing the Dex competition and none of them really doing anything after the 3rd gym, But I'd like to see this concept improved for Z and future gens