Well, I enjoyed our mk1. Very light which made it ideal for nipping around town, sure it was gutless after 50mph but then they all are (look at the similar 0-60 times), and whilst it was hardly the last word in driving dynamics the fact that we lost very little over two years made it a veritable bargain.
I never found any issue with the few Aygos I drove in terms of the gearshift. It was nicely positive, for what it is. If it was me I'd be buying something lightly used, a bit larger and pref with a diesel engine for a bit of torque (Clio/Corsa/Ka), but for brand new I think the Toyota is the way to go if you want to look at residuals. Plus, as I said the new one is uber-cool and makes up for the fact you're pootling around in a tin can