The "innovation" the Prequels introduced was terribly executed. Yes, they showed the story of Anakin Skywalker, but he was a thoroughly unlikable character who didn't resemble Darth Vader at all. Yes, they showed the politics of the Republic-turned-Empire, but it was boring and tedious; and was it really necessary in the first place? The Prequels added new things, but they messed up badly in doing so.
The Sequels added content to the Star Wars canon that was much better executed. Old Luke and Kylo Ren's arcs were both more compelling than Anakin's, and put unique spins on the original story formula. And new ways to use the Force are more interesting than trade deals. When it comes to innovation, the Sequels are superior.