Different strokes for different folks. I make no secret that I adore all things Disney World and theme park in general, but I also acknowledge that this makes me a bit of a weirdo. Most adults without kids also seem to be in the neutral or hate camp for Disney so y'all are in good company.
That said, the claims about long lines, bad food and expensive hotels are both true and false. You can certainly spend a buttload of money and have a terrible time at Disney World, if you book a Disney hotel sticker price off their website, buy all the expensive add ons you can find (Park hoppers, dining plan, the list goes on), arrive at the Magic Kingdom at 11 am on the 4th of July, march around the park all day walking up to 15 miles in 103 degree heat without a break and only eat the McMickey hamburgers. And then repeat for the rest of the week. Holy crap, I wouldn't want to do that either!
You could do that and have a miserable time. BUT. You could also go in the off season when it's still hot but not quite so blistery, rent DVC timeshare points (stay in the same Disney hotels for about a third of the money, if that), arrive at park opening when the crowds are low and the heat isn't too bad, go on the popular rides with little to no wait, leave as the day gets hotter and the crowds start picking up and go back to your resort for a GOOD lunch (that you planned and read reviews for before you left), a swim and a nap, come back to the parks in the evening for more fun when it's cooler, make time to go down the less traveled paths and see the underappreciated sights (another posted rattled off a few) and watch the incredibly impressive fireworks displays and nighttime shows. And plan rest days in your trips where you don't go to a park at all. Disney has a lot to do without setting foot inside the theme parks.
To have a good time at Disney requires planning, research and most importantly (in my opinion, others may disagree) a willingness to GET UP EARLY. For some people, that is not their idea of a relaxing vacation and I agree with you there. It's not meant to be relaxing. Don't go to Disney if you don't like to plan or following a schedule on vacation. If you hate theme parks, obviously Disney is not for you. If you love theme parks but only the biggest and the baddest coasters, Disney is also not for you. The rides and shows at Disney are less about thrills and more about an unprecedented attention to story, detail and overall experience. For some that experience is one and done and that's fine. For me, I've been going for years and I always experience something new.