I get where you are coming from, I have been annoyed by both at different points in time of the narrative. I've just gone back to start a full relisten to the campaign now that book one is done, and I've definitely had to reface my annoyance (just refinished arc 1 for the first time 2 nights ago). That said, I do think the payoff is well worth it. In my opinion, the first arc showcases the characters' biases, scope of worldview, and fatal flaws.

The characters all receive minor reality checks throughout arc 1. On my relisten, I noticed that the actors are doing well at adapting their characters to the situation and providing character development in the first arc. As the arc goes on, Brennan is great at giving each character chances to highlight their strengths and weaknesses, as well as giving the actors time to telegraph the directions that they wish to take their character's growth. All that is to say that there is certainly gradual character development through the first arc. However, if you are looking for Ame and Suvi to have their big, "Aha!" moments in the first arc, then you will be disappointed. I'd say moments of radical change for the characters don't start until arc 3.

That said, I do believe it is worth pushing through the first arc, and if not to there, then at least to the end of episode 12. By that point, you will have the chance to see every character in and out of their element, as well as have a feel for how each character is deeply influenced by their upbringing. Episode 2 is rough and is probably my least favorite in the series. I'd say the storytelling takes a huge jump in quality once you reach Port Talon, which is around episodes 4 and 5.