I think the villains of this franchise are a lot smarter and way more interesting than the heroes. Think about it, Terra, Aqua, Ven and Eraqus lack sense and proper communication skills and Sora is no better either since he never fully understood the villains or their motivations with any sympathy, except for maybe Xehanort and Maleficent.

That's because Nomura more likes villains.

I mean there are written to be goodie tooshoes that cant even understand sinister thoughts

sora is meant to be kinda dumb

Yeah the villains are really smart. For instance xahanort,  he literally had to plan for every outcome of his plan.