Drakengard/Drag-on Dragoon could probably stand for a remake if they bothered fixing a bunch of shit. Final Boss fight for 3 is awful because it has a huge music based QTE where the screen blacks out at the last note just to fuck with you and you have zero visual queues when to press. And if you miss you have to do it all again.
1 and 2 are kind of rough even back when they were released. They were not ranked high on the PS2 in terms of quality, especially since the PS2 had a shitload of stellar rpgs.
Now Original Nier be it either Papa Nier or Brother Nier was rough in many palces but it was a far more better game than any of the Drakengard games. Battles were more focused in terms of mechanics and while you did have a switching of camera perspectives to 2D you didn't really have the sudden introduction of strange new mechanics and gameplay type changes. However it had tedium out the wazoo for specific things like rare drops.
Neir Automata further fixed what was established in Nier and streamlined a ton of things while also improving the combat, the quests were better than the first game and you were given more means of traversal instead of just needing to roll everywhere. I didn't care for the shmup shit personally but that's just a slight blemish on a pretty good game.
The Nier remaster is probably the best version of the original game. Did they change some of the visual shit? Yes, but the new weapon types added helped to mix things up and reduced the grinds that were present in the original. Visually it's missing those rough edges that the original had and seems to take itself more seriously since Nier is now a popular thing.