Unless you think "Phantom Menace" breaks from that, I don't know what your argument is. Didn't you say that you haven't seen it in 20 years?
I've never seen "The Mandalorian", but I did read one thing about it that stuck with me. Jon Favreau related advice that George Lucas gave him:
“One thing he said to me was, ‘Remember, Jon, the real audience for all stories and all myths is the kids that are coming of age.’” Favreau recalled. “We enjoy the stories as adults, but really, storytelling is about imparting the wisdom of the previous generations on to the children who are becoming adults, and giving them a context for how to behave and how to learn the lessons of the past without making the mistakes on their own. ”
That stuck with me maybe because it jived with my own take on "Phantom Menace". Lucas cares more about what he's saying to that "coming of age" audience than he does servicing the geek audience.
"Phantom Menace" isn't perfect. Lucas's tools are a little rusty, but when I finally really watched it at around age 40, I found myself more sympathetic to Lucas than to his critics.