It seems that the consensus over the last two years is that online teaching is inferior to face to face, for many students. But the change has changed the balance a bit between different groups of students. For me, the change would have been highly negative (were I still a student) as I like to ask a lot of questions. That is harder to do remotely. But some students would rather study on their own and the provided materials are adequate for their need.
Some things are clearly harder. Exam proctoring, for example, has become difficult to impossible. Changing the nature of student evaluation is probably necessary, but the time frame has been too short for that to be developed and tested.
Giving individual feedback to students has become harder also. I used to be able to write short notes on student's paper assignments. But exchanging paper has become difficult to impossible and electronic equivalents are, at best, awkward.
But the biggest factor is probably that it is new for everyone. It isn't that we have two highly developed "modes" of course delivery that everyone understands so that we just flip a switch to go from one to the other. Everyone is struggling, instructors included.
But, we are unlikely to go back to the original system as economic factors start to intrude. If it is cheaper to deliver online, since a lot of the cost gets pushed to students, then those responsible for institutional costs will start to find that advantageous.
At the moment (early 2022) we are still struggling. A number of news stories recently suggest that students are unhappy, both with online teaching and with being forced to meet in person in uncertain times.