The G2 sets have not stopped these debates or given any sort of clear answer. Lego already released Bionicle sets before that had both posability and functions - its just the 2015 and 2016 Bionicle sets incorporated those functions slightly better - however even then it needed refining.
Though it remains Star Wars who perfected the use of the gearbox articulation including creating pieces specifically designed to be used in conjunction with the gearbox to provide coverage or prevent the appearance of balljoints - while Bionicle used it as a trial run. If anything that theme should get the credit for the gearbox usage, even if it may have been an aspect that was seemingly created for Bionicle.
The only function that Bionicle 2015/16 gave us that wasn't used better in a different line was the waist articulation, and that is simply because it hasn't been used elsewhere yet - though i have a feeling it could be utilised in the 2017 Star Wars CCBS sets.
- While it is impressive that Bionicle has come so far since its inception, it hasn't solved the debates.