The PS1 3D games look worse when you look back at them, because they were not really the next logical increment of 2D gaming, but the first step into 3D. So more like the Pong, Asteroids, etc of the 3D era. They were exciting at the time as a glimpse of where things were going, but objectively they looked pretty bad.
Video Review: https://www.youtube.com/watch?v=-jaTKi-1rz4
I know that's what the developers claim, but the game looks so much better than a PS1 game. The only PS1 aesthetic the game can honestly claim to have is low-res textures. It doesn't have the weird texture warping, shallow draw distances, rigid animations, or really anything else that we associate with the PS1.