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Ever since the missiles were corrected to work how they do IRL the swingfire and Striker have been good, but they're also not IFVs so that isn't particularly relevant here.
As for the marder being "the worst IFV", that's not even close to true. The marders are solid IFVs, the 1A3 is on par with the warrior because it's better for anti aircraft fire and the higher fire rate offsets the lower penetration/post pen against lighter vehicles.
Honestly I'd take the 1A3 over the first Bradley (no ATGM launcher folding to worry about), and both over the BMP-1, ratell 20, or BTR-82.
To OP, at least for point 1, it has gun depression you just aren't accounting for the missile dropping below your crosshairs when you fire, aim above obstacles/ground to avoid it dropping into them before it's at flight speed, then move your crosshairs onto the target.
It's a thing with the vast majority of ATGMs in game, TOWs are awful for it because they drop nearly the height of the Bradley and swing in from the side instead of going forwards.