We have an old Honda Jazz with a CVT box. As a runabout I never notice it. Climbing a steep hill at speed it does let the engine revs rise and as the car is underpowered and noisy, it’s not too pleasant. Before our current Motability car we had a Qashqai diesel with a CVT box. Nissan built in steps to imitate the gear ratio changes of a regular automatic, and given the car was more powerful and quieter than the Jazz it was never noticeable except sometimes being hesitant going off from a standstill.
I think if the engine is powerful enough not to have to work hard at high revs, CVT boxes are fine for most cars.