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Exactly! Plus, Goofy had the amazing ablities MP Gift and Evolution making him on par with Donald when it comes to healing that is if you remove his other special abilities). You could also press the triangle button to give your party members a sort of boost.Depends.
Goofy was actually quite useful in KH1 with the right abilities and Donald made good use of Cure and Aero.
Goofy isn't bad as a regular character in KH2 either, but Donald is less good. Actually, he's like permanently dead in my team.
BUT Donald has Flare Force which is a super useful limit, so...
It's really hard to decide, but overall, I'd say they're more useful in KH1.
I have got to say overall I prefer KH1 D&G. In terms of storywise D&G were more plot relevant and this was reflected in their dialogue such as when they left you on Hollow Bastion. In KH2 however they were less overall plot relevant, not that I didn't like their characters in KH2, it was just that they weren't as necessary to the story as in KH1.
Gameplay-wise in KH1 they were better due to the game being balanced more. KH2's heavy focus on Sora's gameplay ruined whatever semblance of balance Kingdom Hearts 1 had. I won't lie though, I did love the Limits. The Drive Forms were cool too but the problem with them was that each of them were just used to enhance Sora's abilities and so the gap between Donald and Goofy widened even more.
KH2 is my favourite game in the series however, but I still found that KH1 had much better balance
Storywise, I'd love if KH3 spent more time exploring Sora's relationship with Donald and Goofy. Sora and Riku have been done to death so it'd be fun to see Sora really connect with hus OTHER best friends.
When talking solely about DG they would actually benefit from interacting and connecting with original characters that are not Sora.
I mean it has been ages since SDG actually adventured together though.