I think it's one of these things that's more approachable if you start by working on specific subsystems of an existing OS. This way you don't have to figure everything out at once. At least that's how I did it.
I think writing an OS from scratch is discouraging and not very accessible because... writing an OS is discouraging and not very accessible. It's a bit as if a painter was saying "It tried looking up guides on how to paint The Wedding Feast at Cana but they all make it look super difficult, I wish I could get an easy step-by-step tutorial". Even if you break it down in small, digestible parts I'd wager that you'll end up with a few hundred episodes before you even get a basic microkernel up and running on a modern system. It's truly a daunting task.
I learned that the hard way: I tried to write a guide on how to emulate a PlayStation from scratch. At first you focus on emulating the instructions in the CPU, that's relatively focused and straightforward. But then once you're done with that you need to explain the various peripherals, and the main bus, and the interrupts, and the cache, and the timers, and the pipelines, and the intricacies of the various CD formats, and the memorycard filesystem, and video modes, and paging, and high impedance, and metastability and everything kind of interacts with everything else so it's difficult to maintain a coherent narrative.
On top of that a PlayStation is a ridiculously simple system compared to a modern desktop computer. The task of writing a very accessible guide on how to write an OS that would take you from zero to a working userland is absolutely tremendous. I think you could probably write a thousand-page book on the virtual memory subsystem alone.