I think Prusa has had a couple of missteps of late, but they’re not in the gutter yet. On the XL: the 0.6mm makes sense with the build volume, to significantly improve print times, but seems to really not work well with the 5 toolhead models, and introduces massive amounts of zits, stringing, cross-contamination, etc. On the Mk4: at the price point, it’s maybe missing a few features to really hold up against the X1C,…
There is nothing wrong with Marlin, especially not for the purposes Prusa uses it for. Marlins biggest weakness is needing to recompile for some things because they are defined by compile-time. All other things like active input shaping calibration can be added relatively easy.
Klipper by contrast is a breeze to read through[2].
I am very grateful for Marlin, for all of reprap, and everyone who has contributed to it. But saying there is nothing wrong with it is straight up misguided.
[1]: https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.1.x/M...
[2]: https://github.com/Klipper3d/klipper/blob/master/src/lcd_hd4...