Seems like you guys need to play on a lower difficulty. I'm pretty sure you can change it in the middle of the game. Personally I never had problems with it.
I find it strange how you dislike how enemies take a lot of hits yet compare it to gears of war, which is known for the enemies to be bullet sponges.
Also, enemies do not respawn, there is a finite amount you have to kill until you move on. Much like a room in a zelda game. The call of duty series is the one with endless respawning bad guys(I hear this is gone from modern warfare 2 though).
And lastly, in uncharted 2 armor for bad guys is now taken into consideration. Normal bad guys will now go down in 1-3 hits.
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