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Vaughan suggested England must carry out an honest review of their 1-4 mauling in India by taking a leaf out of Manchester City boss Pep Guardiola's book to breed an environment of ruthlessness.
Vaughan also criticised Rohit for not being proactive during the series-opener.
Vaughan's remarks come after India suffered a heavy defeat by an innings and 32 runs to South Africa within three days of the Boxing Day Test at the SuperSport Park in Centurion.
However, England pacer Stuart Broad said he was not surprised by the tourists' method.
Rohit Sharma is currently the India captain in all three formats of the game, having taken over from Virat Kohli, but Pandya's on-and-off-the-field demeanour while leading Titans has impressed Vaughan.
“High-level sport is about getting over the line, winning trophies, particularly when you're at the standard of what Virat Kohli is at," Vaughan was quoted as saying by Cricbuzz.
He also felt that the tourists need to pick Ravichandran Ashwin for the fourth Test at The Oval and break free from a false sense of security given by the tailenders after winning the second Test at Lord's.
The former skipper said England's "batting line-up is fragile".
Country's white-ball skipper Eoin Morgan and wicketkeeper-batsman Jos Buttler are under investigation by the ECB after their tweets, mocking Indians, surfaced on the social media on Wednesday.
The former England skipper added that Joe Root and Virat Kohli are going to be the highest run-getters in the five-Test series.