Heroes represents the last truly great effort by Senoue on a Sonic soundtrack, and I enjoyed the game itself, too. It was a nice antidote in my opinion, both as game and soundtrack, to Sonic Adventure 2, which was thin on action and long on slowly traipsing over endless maps to tenth-rate hip-hop.
The only problems I had with Heroes gamewise (aside from odd glitches, which have plagued to varying degrees every Sonic game of the last 12 years) were A, Team Chaotix, and B, having to go through the same set of stages with only slight modifications four times over to complete the game properly. If they had pared it down so that only certain teams could access certain stages and no one team could access them all - in other words, more like the first Sonic Adventure did - it would have kept the game fresh. I still enjoyed it, though, and I hate to see it lumped in with utter drek like Shadow and 2006.