I liked the idea, and found it useful (but I have smaller fingers). The biggest issue was how buggy it was, especially in earlier laptops. If it doesn't respond (common bug), then you now have no function keys, screen brightness keys, etc.
I have a MBP M1 which has been my main laptop since it came out. I never really understood why so many people complained about the Touch Bar. In fact, I will kind of miss the Touch Bar when I eventually replace the MBP M1 with something else a few more years down the line.
It not only removed the F-keys, but it was not as responsive as a keyboard and a misplaced finger did something you may not want. Personally I HATED the thing.
The first iteration of the touch bar didn't have a physical escape key. I'm not even a VI user but that was my main complaint. I barely use function keys so I was ok with them being virtual (they showed up when I was in the terminal). But I did love adding a custom screenshot button to it and I loved the way the volume and brightness controls worked.