Underrail beat AoD in the combat and exploration department, but is worse in everything else.
I would argue that AoD is better in combat department too because almost all fights are challenging and are interestingly set up. In AoD you have 8 pure combat skills and each one makes your run different (playing as a spearman and playing as an axeman is quite different, it requires using different tactics and you get unique attack types, the same goes for a bowman/crossbowman and a throwing master). Also, there are always opponents that force you to change your tactics, e.g. if you fight Mack The Knife it's better to use a lighter weapon because even though your hits won't be as devastating you will make more damage due to higher chance of hitting a dodge master.
In UR you can use the same tactic for every opponent, there is no one that will force you to do things differently. The very first build I made was a gunslinger and I played a bit with it during EA. I knew what my mistake was when making this build so I took it into account and created my 2nd build once the game was released in 1.0 state and what do you know, every single encounter looked basically the same. And somewhere in the middle of the game I could one-shot any opponent (and I didn't even know that sniper would be so powerful). It's similar with other builds.
What's more in AoD the initiative, your positioning and the sequence of your actions matters more than in UR. Often moving away is the most optimal move
because it's a proper turn-based game and the sequence of your actions do matter. Let's check this fight for example:
http://cloud-4.steamusercontent.com/ugc/28482212341397668/EF4B7336AD21FCFA4B24174AD42449CF2C8EEA40/
Firstly, it matters who you kill first. Killing the wrong guy might make it easier for others to flank you (plus you can lose more HP because you left someone with high THC and damage per turn alive). Secondly, it matters what initiative your opponents have and in the case of the screenshot above if I go to the right square I can get rid of one opponent for a while because he has to take the long way since his comrades who had higher initiative blocked him passage so they could attack me. No such thing in UR. Sure, there are opponents that you should get rid off first (e.g. a sniper that can one-shot you or a psi-master that can make you think you're a vegetable) but these things aren't as important as in AoD.
Furthermore in UR there are way too many trashmobs or very annoying set-ups that aren't challenging but are tedious. Also, what's the point of having many different builds available if in the end every encounter looks basically the same? Every build is using traps, grenades and energy shield (if you don't you're either stupid or you want the challenge), these things make everything much much easier and you can use them
at ANY level. Alchemy, crafting and nets/bolas make fights easier in AoD too but not every build can use them to their advantage due to limited amount of skill points (and in the case of bolas and nets limited amount of them). In UR you can spam your enemy with traps and watch how retarded the AI is. But the thing that makes AoD much more enjoyable to me is that they're dynamic and fast contrary to UR ones where everything is in slow motion.