No system launches perfect though I'll be very happy if Companies launch in a good state. Yoshida's stance on many issues is that he doesn't want to put it in the game unless it has a reasonable purpose. In one interview I believe he said he wanted to make sure players had some reason to interact with companies before putting them into the game. That alone puts him ahead of the old team I think.
If the company system launch doesn't go well at least we can influence it and give suggestions on improvements. Even if the launch of companies does go well, we can still offer suggestions so it's hard to lose here.
Betelgeuzah has a point though, no matter how things are now the big day is PS3 launch. That is the most important day in the past, current and future history of FFXIV as it is the game's second chance.