I mean sure he's kind of an annoying character in general and also felt useless in the show 90% of the time, but I never felt myself THAT bothered by him. Only a few episodes he threw tantrums in I understand why people disliked him, but in other episodes he's often "just there" or doesn't really do much of anything to warrant complaining about him.

I sometimes see people say they can't even watch AG because of him, which I find odd, but to each their own. Maybe it's because I watched AG as a kid/teen, but he never felt too bothersome even if he's one of the worst/weakest companion characters of the series.