For me, it was a much better film than Ultron. In fact the best sci-fi action film since Dawn of the planet of the Apes.
I'll make a two point comparison:
Stakes: Despite Ultron threatening the world, and here you just have the main players in danger, the danger was more real ,personal and imminent.
Action: Even if I disregard the stakes and try to look at the action objectively, this felt much better. I don't like the cartoony flavor of recent action, and I guess basing your movie on practical effects makes a difference.