That's dubious comparison IMO, because the toys came before the cartoon. And the cartoon cheated - a lot. If you look at Classicsverse Ironhide and Ratchet you can see how difficult it is to make toys based on the G1 cartoon models, and that's with modern day engineering! Nonetheless, it's easy for the cartoon models to look better than the toys because:
a) They came later, so obviously the animators are going to try to make them look cooler.
b) They can "cheat" by ignoring laws of physics/reality. Where do their mobile battle platforms go? Who cares, they just disappear into sub space, right? :p
I never felt that way about them. In fact, I always used to imagine that their windows in front of their heads were like HUDs that could display all kinds of cool information etc. - so in the middle of battle they saw things similar to how Hot Rod looked at the hole in the Autobot shuttle through his visor. ;)
I've seen the 3rd party heads IRL and I don't like them. They sit way too far above the shoulders. The only way it'd work would be for the heads to sit over or in front of the existing heads, rather than covering them up and sitting on top of them. Because with the 3rd party heads (and the cardboard heads that come with the Encores are equally guilty of this), the arms
look like they're coming out of their lower ribs! Honestly, if you want more show-like toys of G1 Ironhide and Ratchet, get the Universe or Henkei figures.