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I'm glad Lucas got out of it when he did. I think as he grew and matured and when he had kids, his writing style had also changed. He tried too hard to dumb down things for small children instead of writing for the kid inside himself that grew up watching the various genre of action and swashbuckling cinema.
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I'm not even sure writing was his problem. The prequel trilogy story was fine. It didn't ape the original trilogy nor was it all that heavy on cheap fan service.
I think his big problem is that he has no business acting as a director for his films. If you looked at his filmography, he really only directed six feature films in his entire life including Star Wars I-IV, American Graffiti and THX 1138. He's not what you would call an accomplished director.
I think Star Wars was a one off and was successful partly due to the fact that he probably had people around him at that point willing to tell him he was wrong. If you look at some of the scenes which DIDN'T make the cut, they are all pretty terrible which means that at some point he was pulled aside and straightened out by someone who had more experience. I can't prove it, but that's what I suspect.
Empire Strikes Back by contrast was directed by Irvin Kershner who had 25 years of experience by that point.
The prequel trilogy with a decent director could have ended up as timeless as the original trilogy even with the same basic story as the foundation.