Can Prequels ever be well received by fans? Sure. All it takes is a good story, the right timing and to not be invasive towards the original.
Spartacus Gods of the Arena, Fear The Walking Dead, X-Men First Class, Rise of the Planet of the Apes, animes like Gundam (which has various sequels, prequels and midquels spread throughout it's timeline of the original story), the last season of Enterprise (when the show earnestly began trying to be a predecessor of TOS and is arguably the best season of the show) and others I'm sure. Hell, try watching Episode 3, 4 and 5 as a trilogy, instead of 1-3 or 4-6. Tonally and poignantly, the story of Vader's fall, Luke's rise and their first clash carries a lot of weight and drama. More so than their ultimate resolution in Episode 6, where both characters seemed like guest stars in their own movie.