it's funny because i have literally played every character you mentioned extensively, and I liked them all, but I didn't love any of them enough to keep me in the game
also played Sophie, Mitsurugi, and Ivy, Sophie and Mitsurugi were just a little to basic for me, Ivy was fun but lacking the execution to do her command grab consistently dampened my desire to keep playing her :,(
There are videos out there that show the easier inputs for Ivy's command grabs, if you use pad then they can be done with the analog stick as well, might not get the just frame versions out that way (without practicing it for a long time) but they are a workaround to doing them the way the command list shows you to do them (does anyone even do those inputs precisely?).
Summons Suffering, right? I've been able to do it in training a few times but I doubt I'd get to the point where I can do it like I was able to get Ryu's Izuna Drop down. I think Namco's games take the cake when it comes to difficult inputs.