To be fair, wasn't the main complaint about the TB everyone had back when the 2016 MBPs released not that it wasn't all that useful, but that it wasn't sufficiently useful to justify the price increase? The Touch Bar models sold for about $300 more than spec-wise comparable 2015 models did before, with the 13" models being the best comparison because the TB entry-level model even was exactly $300 more expensive than the nonTB one (and yes there are other differences between the TB and nonTB, but those are neither very obvious at first glance nor are they very intuitive; Apple wants people to associate the price increase with the Touch Bar).
Most people didn't seem to fundamentally dislike the Touch Bar, they just didn't find it as useful to justify the $300 price tag. Touch ID and the few additional control schemes in applications, many of which they might not even use that often, didn't seem to be worth the asking price. You can do objectively more with the Touch Bar than with the fn-keys, but not $300-more, that was the most common critique that I remember.
Now if, as the other commenter suggested, the price of the TB-models would be lowered $200-$300, then that wouldn't be an issue anymore. They price-wise would step into the shoes of the nonTB-models, so they might aswell replace them. If Apple is able to lower the asking price to where it was before the 2016 TB-models, then they might aswell uniformly put the Touch Bar which they believe is superior, two fans (–> higher TDP) and 4 USB-C ports (vs 2) into all of their MBPs.