Compared to the flippy floppy Robinson, the G2 cyclic does initially feel as you describe. It shouldn't take too long to get passed that stage and I don't even think about it being heavy now. Yes, compared to an R44 with pilot only, the G2 will feel underpowered. Having said that, I've done vertical departures in the G2 (to tree top level) from confined areas with a passenger and 2hrs fuel without it running out of steam. No drama. How close were you to MTOW with G2? As for the collective, I've not found that with any of the G2's I've used. I'm no body builder, but happy to keep the collective in hand for a couple of hours if needed or just apply a little friction.
Each to their own at the end of the day.