Hey
I was a little thrown when iOS 13 beta's started coming with the changes around 3D Touch but I think, as people have said, it is to make the experience the same on non-3D Touch devices. But once I got used to the two options it works exactly the same as before, even 'peek and pop', so I am not sure what the issue is.
If you have a 3D Touch device you can still hard press for the 3D Touch options as well as 'peek and pop' so I am not sure what the issue is? You can just hard press or you can do it the new way with a long tap (slowest) or long tap with release. For a non-3D Touch device all of this has to be done by long tap (slowest) or a long tap with release. See my videos attached for 'peek and pop' on my 3D Touch enabled iPhone Xs Max and my non-3D Touch enabled iPad. When the peek opens, it stays open along with the menu list, if you want to pop then select the item, if not, tap around it.
I find that on a 3D Touch device, Hard Press is the quickest way as it was before rather than the new way of long press with release, wheres with a non-3D Touch device, Long Tap
with release is quickest.
App icons is where it changed really and I think this was throwing many off, as up until beta 3, to access the app icon menus, you had to hard press and release, or long tap with release on a 3D touch device or just long tap with release on a non-3D Touch device. You couldn't just hard press as in other 3D Touch areas such as Mail and Safari. But as of beta 4, this is now back, the app icon menus appear with Hard Press (3D Touch device) or with Long Tap then Release or Long Tap (3D Touch device or Non-3D Touch Device). If you Hard Press or Long Tap and continue to do so after the menu appears, the icons will then wiggle to move if you don't want to use the new menu option to reorganise or delete apps.
So on a 3D Touch device
everything is as it was before with the added options of using the new way of long press/long press and release.
Thanks