They've been extremely hit-and-miss. My wife is still on her px5, and I upgraded from a px3 that I had loved to the original 6, which was atrocious in so many ways. I made the ostensibly lateral move to a galaxy s22 (a free trade-in at T-mobile) after just about 3 months and have been so much happier.
The 6 was absolutely not ready for prime time (bugs) when it launched, and that was a horrendously huge phone to be the smaller one in the line. Hopefully they've fixed that with the 7.
I do miss the appearance of that phone's software. Samsung is definitely way behind on android theming.