With 3D Touch you can force touch on a homescreen icon, rest your finger on the screen, hover to the to the wanted menu item and remove your finger from the display. With Haptic Touch you habe to long press, but you have to remove finger from the screen and the menu appears. Then you can tap a menu item. I‘m not sure if this behaviour is only a bug in iOS13 Beta 1 or it‘s working as dedigned. The only reason why you have to remove your finger before the menu list appears is to choose between a Haptic Touch and a Move/Delete app icon.