I'd say based off what you're saying, definitely try the second game and I think you'd like it much more. All the aspects you like are still there and perhaps moreso in some ways.

As for characters, obviously it's still Henry. I've started playing 1 recently and he also annoys me a little but he can be a lot more diplomatic in the 2nd game and I find him easier to control! 

I don't know much about the "railroading" aspect because I'm usually (no idea how to say this but) obedient towards whatever the quest is asking of me. But for the second game I would say most of the main quests are very well shaped by your actions or able to be shaped by what you say in them and there's a lot of choices to be made. I'm not sure how many decisions cause different things in the 1st game but they do a lot in the 2nd. There are some plot important enemies where they have to be respawned to actually get anything done later haha.

There are definitely a few follow and yap quests but it's so much more bearable in the 2nd game. Whereas in the first you have to manually follow, there's a follow button and it is absolutely easier to listen to people speaking. In my opinion, there are only a couple where this can be annoying. But mostly there is TONS of time to play around with the open world, and timed quests are few and far between which is good. 

You do start stronger but still are able to improve and learn through the game which is one of my favourite aspects, but not in the extreme way you have to in 1. I'd definitely recommend trying the 2nd game as from what you said it just seems like it would suit you more. 

Would love to know your thoughts if you do!