Scipio did not reform the roman army before he went to africa (battle of the great plains/zama). Whilewaiting in sicily he simply drilled his army hardcore. Additionally he had in his possession in sicily the two "exile" legions also known as the cannae survivors, these soldiers had therefore seen active service for at least ten years (actually longer). The term "cohort" during scipio's time was a term applied simply to a group of maniples/centuries. A Goldsworthy in his book "the fall of carthage" theorizes that a cohort duing polibious's day consisted of 3 maniples (likely 1 of each Hastati, principes, triarii). The cohort you speak of is generally attributable to C. Marius. However, it is unlikely that he himself devised the system, rather he formalized a preexisting formula. The "polybian legion" as it is called actually became defacto obsolete when C. Tiberius passed his law whereby the state was responsible for the purchasing of arms and armor for its soldiers. This law in effect removed any class equipment differences, thus the three "classes" became more of a honor level or one based solely on experience.
As even during Caeser's gallic wars mention is made of hastati. Thus this is eveidence that the manipular formation had not gone away even by Caesars' day.
The reason flexibility was not possible at trasimene is because it was a complete ambush. Really nothing could be done, to manuever out of a situation like that. Flaminius was an able general (with a triumph under his belt) with a well organized army. Trebbia was a loss because sempronius chose to marhc his soldiers without breakfast and pushed them thru a freezing river, oh yes and again they were ambushed. At cannae, the romans were so confident in their numbers that they simply arranged their army as a giant horde (more complex actually but yet a horde relative to their normal formation), additionally the triarii were left in camp. Oh, and I would like to place the blame of the disaster on Lucius Aemilius Paullus, not varro. The patron of polybios was aemilianus africanus. who was in fact a blood relative. We have hear one of the first documented cases of a cover up in history.
Also scipio did not begin a wholescale introduction of the iberian gladius, it is unlikely, that for the duration of the second punic war that any other army except scipio's employed this weapon. Indeed even after, it is likely to have made only a steady increase in its usage. The key to remember is that the blades were made by iberian blacksmiths, post war these blacksmiths would still have to train others, and this would take time. And no the sword wasn't epic, the tactics remained the same, the only difference was the quality of the sword (resulting from a superior forging process).
The manipular legion was just as flexiple as a "cohort" legion, if not more so.
I don't mean to sound rude, but I would like to see your sources. The book you mentioned, the author is Richard A. Gabriel, he is an expert on warfare not roman history. I have read his book or at least wat I could swallow, his conclusions are wrong and not in context with actuality.
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