Not so much 'good', but the cast was easily made more diverse for Hyrule Warriors, whereas the main difference between fire emblem characters outside of behaviour is the type of weapon they use and if they have a mount of some description. Whereas hyrule warriors was able to include various races including a fish person, rock eating big guy, wolf riding imp, two sword spirits, one of which is largely robotic in mannerisms and look, as well as easy choices for variation in even the more human races, with shiekah and Gerudo included in the base roster which have some decent parallels with real life races.
They actually had it harder than I would have initially thought in getting anywhere near the variation in character types than I would have thought before the game was announced (not that sticking with fates and awakening helped, but going with everything still wouldn't have opened up that many character types outside of like, laguz)
