Having finished watching it, Schwartz definitely brings more vocal consistency to the role with Judd Nelson's performance in the movie than how Gautier made Rodimus sound significantly older. Schwartz's take also better matches several of Rodimus's lines that are written to make him sound carefree and a little rambunctious, making it clear that he's a teenager at heart. By contrast, now that we see the intent behind Rodimus's writing in this ep, Gautier's older voice kinda clashes with these parts in a "How do you do, fellow kids?" kind of way.
Do we even know the reason for why the voice was recast? Looking it up on the wiki, several pages simply note that Schwartz was replaced by Gautier, but no reason for why is given anywhere.