I read them when I was much younger. The initial books were essentially romantic fantasy, and the Menolly books were much more obviously romantic fantasy.
Really... it's romantic fantasy. That's not good or bad. That's just what they are. Melanie Rawn and Mercedes Lackey are pretty similar, so if you like Pern, you might like those, and if you don't like Pern, chances are you won't like those.
Personally, I'm happy to read romantic fantasy, but I prefer quest fantasy to the more Cinderella-story versions Mcaffrey often writes. It's just not my thing. I do enjoy Kristen Britain, though, who writes romantic quest-fantasy (not romances, but strong focus on feelings and emotions, lots of underdog-giving-best-effort-and-surprising-people stuff, that kind of thing). Diana Pharaoh Francis wrote "Path of Honor" and "Path of Fate", and I don't remember which came first -- the first was decent but not wonderful, and the second suffered, in my opinion.