I don't think RG1 is the true ending to the Marvel because G. I Joe was in the same continuity as Transformers and they had a crossover with G2, not RG1 (obviously RG1 didn't exist back then). So G2/Alignment is the true ending.
I'd like a Rhythms of Darkness mini-series from IDW following on from the Marvel issue detailing the events that happened in that continuity after the issue ended. The Marvel movie adaptation and The Big Broadcast of 2006 would take place in the same continuity.
And if the movies focused on Lennox and Epps (and Simmons) rather than Manic Weirdo, Fatherly Asshole, Statutory Rape Guy, and Generic Female Characters #432, #527, and #671, they'd already be far, far better movies.
Honestly, the movie designs look fine and are totally recognizable, the problem is how they're filmed (in close-up, shakeycam, with split-second cuts). We just need more wide shots, and a plot that focuses on the TFs as characters rather than as props for the (terrible) human characters..
Yeah it's pretty obvious that the movie designs go out of their way to have parts in particular places that move around like muscles. They're going for metal aliens instead of megazords. A reboot, no matter how faithful to G1, would probably still have to try and go for a visual style that allows that kind of fluid movement.
The movie designs were never about realism. They're about natural looking movement. Realistic G1 style designs would not move the way we want to see Transformers move. They'd collide with their own boxiness. The shredded metal look of the movie designs lets them flex.