Has any one ever read a poem that was translated from one language to another and how did you find it?

I recently read Alexander Pope's Ulysses, what can I say - I enjoyed it incredibly. The poetry flowed naturally and he just seems like naturally gifted poet. Though from what I could understand from some of the prefatory notes is that he rather remained true to the general idea of the translation instead of a more literal translation. And honestly his work is all the better for it in my honest opinion.

Before it I read an English Prose version of Iliad and hell what a bore it was. Thought the content remained true, and mostly remained in the form of the former. It was not pleasant to read. It was chore and Gosh, I didn't enjoy it at all.

So yes, from this experience I tend to favour more liberal open ended poetic translations instead of more literalist interpretations. What do you prefer content to form or form to content? Is there a middle way between rewriting the poem in spirit or copying verbatim.