While I do miss Peek and Pop and I think the Lock Screen buttons were way better with 3D Touch, I will say that you do get used to Haptic Touch eventually. Just a few weeks ago I was using my buddy's iPhone X and though something was broken because the button wasn't working when I pressed and held!
Also, outside of the MR circle that tends to be comprised of more professional, Apple geek users, Haptic Touch is definitely more discoverable than 3D Touch was. The average user will figure out how to press and hold something much sooner than he would figure out to press firmly on something.
I think this is especially true with Force Touch on the Apple Watch. In many scenarios, several application functions were only available through Force Touch, meaning they weren't discoverable. You'd have to try Force Touching a screen to see if there were any actions available or not, as opposed to just glancing at all the options onscreen already.