I use software to program the FT-857D's and that works pretty good. Doing it from the menu is a PITA.

Ride the RF gain down on them a lot. The front end overloads readily, and the SNR when mobile is usually bad enough that it's a good idea anyway. If I use it like that it's more listenable as well. Radio works great for camping and such, away from the big city... and I kind of like the controls. But I'm used to them.

They don't have the "ears" on 2 meters for really weak signals. My old IC-251A is better.