Menus are fine in my opinion. The only one that annoys me are the skill trees. Moving side to side between the skills can be a bit clunky. Otherwise though, it's 10x more user friendly than oblivions menus.
As for an RPG, I think Witcher 2 is still superior.
Witcher 2 was far more linear. I like the openness of Skyrim and the fact I've played 22 hours and been to 2 towns. You can pretty much do whatever the hell you want. Both are fantastic games, but in different ways. You can't really compare them because they are two different styles of RPG.