I enjoyed it, but I think a significant part of that was due to me having grown up with Banjo Kazooie/Tooie. The camera has seen some improvements since it came out. I never had an issue with the controls; they're nowhere near as tight as, say, Mario Odyssey, but few games are.
I'd say if you're still able to enjoy a game like the original Banjo Kazooie today, you'll probably enjoy Yooka Laylee. It feels very much like a 3D platformer of the N64 era, just with modern graphics.
Banjo Tooie is one of my favorite games ever so I think I shall!