I honestly see it as an apples and oranges situation. I think both of them are great for different reasons.
Empire is more "cerebral" movie while Return is the more "emotional" movie to me. The former rises the stakes while the latter pays everything off beautifully.
The Jabba palace section never felt "pointless" to me, it clearly had the whole point of saving Han Solo from the situation Empire setup. Without mentioning it did pay off the stuff that was being setup about Jabba and how much he was built through ANH and ESB as someone that even the empire was forced to somewhat respect the wishes of.
Boba Fett being easily taken care of always felt like it was showing that, against a Jedi, not even the best bounty hunter could pose a threat and/or showing Boba Fett was possibly more bark than bite ultimately.
But I think it all comes together beautifully in the end. Ian as Palpatine is easily one of the most iconic villains of all time, the prequels would solidify that fact but he was already making history in his debut movie alone.
So I kind of find the comparisons between both movies kind of pointless when I consider them as good in the grand scheme.
ANH introduces is
ESB expands on it
RoTJ concludes it
There is a reason why this trilogy is so iconic