Just got mine and transformed from F to G. As odd as it may sound (maybe this is somewhere in the thread but I couldn't find it) rotating the upper thigh about 10 - 15 deg away from the body made it REALLY easy to rotate the hip joint down for G mode. It wouldn't even budge before I did that, but as soon as I rotated it just slightly it made all the difference in the world. Might even characterize it as 'loose'.
The only complaint I could possibly imagine so far would be that the right ankle joint is SUPER tight on mine but loosening the screws on the foot fixed that.
All in all this is as good as the VF-1 V2.0.