We've been back multiple times since reopening as well and have had 0 issues being able to ride and fit in everything we wanted. This includes stopping for a QS lunch and a TS dinner every night.
Now, can you just show up to the park and walk around aimlessly getting in whatever ride queue you want? No....You still have to look and make a plan as to where the least amount of crowd is in the park and hit top tier rides when it makes sense. I have seen several people on FB and other places claiming they couldn't do more than one ride in the park because of the wait times and crowds and that just simply isn't true.
Also, I would submit that by using FPs you're picking a specific ride that's available for you to get on with minimal wait. I think some peoples perception may be a little skewed in the amount of time they are actually taking to scan their phone over and over, pick the FP, run across the park to what's available, still stand in a line usually, ride the ride, then rinse and repeat. This narrative that people went from ride to ride of their choice all day long without any hassle or wasted time with FPs just simply isn't true. I considered myself a FP master, and this was never my experience. I would believe that while you may spend more time standing in line now, you're still using the same amount of time as you would be constantly searching and running around for the next FP IMO. I would rather be there taking in the sights than constantly staring at and refreshing my phone....