Vegeta and future Trunks went for brute force power at all costs, which created weaknesses for themselves including being unable to stay in that state for very long.

Goku and teen Gohan didn't get much physically stronger, but they mastered efficiency and energy control while being SS1 and improved across the board. They could sustain being SS1 seemingly indefinitely.

Damn I really miss when they were just low-key SS1 all the time with zero effort. I wish they kept that going, such a massive flex.