It seems like most of you haven't understood the idea behind this game.
1. You leave footprints. That is your "map"
2. You don't have to get all medals in one run. So you do a speed run, a defensive one and an aggressive one.
3. It is NOT shitty to walk back. That's the second part of the mission, rushing back. Like if every second mission was timed if you like that idea better.
4. You shoot over the "cover" as well. So yes, it only obstructs movement, don't see a problem.
4. The hard an impossible badges are what their name is. (in this game at least)
Restart button would be nice.
And you should be able to disable those "upgrades", although it can be seen as an additional challenge to either dodge the "bad" upgrades or adept to picking them up.