It's been improving rapidly. The upcoming (imminently) 1.1 has a large amount of modern UI affordances, such as on-canvas gizmos that at times actually are easier to use than e.g. the Fusion ones. I'm a heavy Fusion user, but for me FreeCAD is nearly there now and the improvement over 1.0.x is massive.

There's a lot more to do, but my feeling is the project is taking UI/UX design much more seriously than it has in the past, with the ramp-up of an internal design-focused team etc. I get that feeling from reading the weekly progress updates and MR discussions.

I'm very optimistic for the future of FreeCAD personally. I think it's a great time to contribute if you are interested in making UI/UX better as well because there's much higher interest in that kind of work now. I think it's close to having its own Blender/KiCAD moment.