Having to punch in a PIN for every transaction wouldn't have saved you, but it would absolutely be a PITA for everybody.
Mandatory PIN entry when inserting might have made it easier for contactless and Apple Pay to take hold (i.e. by making it a lot more difficult to not let customers touch the terminal). Instead, we needed a million+ people dying for us to think that the NFC thing might be worth trying. It's the big reason why I almost think the US should have just done QR instead; at least we might have had significantly more adoption before the pandemic happened.
(Realistically, however, we probably wouldn't have adopted QR any earlier, especially if it still used the credit card rails. The likes of Walmart would have still found a way to justify using their own QR apps instead of Apple Pay's QR system and end up turning people off of using QR altogether for years afterward.)