It's not perfect, but no place is, but I have a strong sense that it's changing for the better.
There's some social pressures and responsibilities for people who live there that can make it difficult if you can't get into the groove of the place, lots of Koreans will complain about them in various ways -- but they are what they are.
Admittedly, white foreigners (men and women) get treated fairly well. I've only ever had a couple of incidents where I didn't feel welcome as a foreigner. Non-white foreigners have various observations on their own treatment.
Here's some examples:
https://www.youtube.com/watch?v=YRdhJEl5FTc
https://www.youtube.com/watch?v=-KTPpgjdl4s
https://www.youtube.com/watch?v=fGxrW_PB8gI
Same question to white people