5e needs a better way to balance encounters than Challenge Rating. It also has important rules for players in the DM book. Both of which are problems you can work around.
Yeah, it’s basically fine. It got a lot of new people interested in RPGs (and Critical Role certainly helped, too). If they’re all now looking for other systems to play, that’s fine, too.
If anything, I feel like Pf2e is more streamlined than DnD5e overall. At the very least, everything is in just one book.
The way critical success/fail works is better, too. Rolling a nat 20 doesn’t automatically make an unskilled character super good at something, and rolling a nat 1 doesn’t make a super skilled character fumble it completely.