3D touch was excellent especially when you wanted to open camera or flashlight from the lock menu, because you HAD to press it. Now a lot of times when i take my phone out of pocket i accidentally open camera or flashligt, because my finger sat for too long on the button. Its amazing how stupid that decision to cancel 3D touch really was.
You had to find those little uses that were useful for you specifically (people liked different features, as far as I’ve read), but once you found them, they were difficult to unlearn. I like the settings shortcuts, I like accessing the app switcher by 3D Touching the left edge of the device, I like setting flashlight strength (Control Centre shortcuts were available starting with iOS 10), I like Peek and Pop (which was removed on iOS 13, and the feature in general was severely undermined), and many others.
Some people found other features helpful, but even if 3D Touch in general wasn’t essential, it was cool to have, for those little cool features which varied per person.
Yes, you can probably do without it, but it was a whole new way of interacting, and like I said, my favourite individual feature ever released. I have an iPhone Xʀ on iOS 12 (so, I don’t have the software implementation of Haptic Touch, introduced when they broke 3D Touch, iOS 13), and I have found myself repeatedly trying to trigger 3D Touch features. The fact that I still use an iPhone 6s on iOS 10 with 3D Touch’s full functionality available probably does not help.