I had an '00 and now have an '05. The '00 was the same frame as the '01; I never rode an '01 but I understand the motors were similar, with the '01 having a bit more mid and up punch. I liked the '00 and was very satisfied with the way it performed (after the suspension re-valve).
Compared to my '00, the '05 is better in every way. It's faster, lighter, handles better and the suspension is worlds better (even though I had Factory Connection revalve the forks and shock on the '00).
I can't speak for the '02-04s because I never rode one, but I love my '05.