I enjoyed part one of the pilot. Will want to see a regular episode to get the real feel of the show since this ep had a lot of setting up the concept so a lot had to happen.
I liked the characters (and was surprised that Underbite has a character!) and the animation seemed fine.
I've not seen TFPrime but it doesn't seem to matter at all yet.
Will be coming back for more.
Update:
I liked part two and it seems to give a better idea of how the show will work: a stop the villain of the week format as expected.
So far so good.
Although having seen them in motion my warrior class Grimlock is too small and he and Bumblebee need more paint apps.