I find using set, TLA, or other mathematical notation cumbersome to explain these things. Would a visualization would make it more approachable?

I know Raft is easier to understand, at least to me, probably due in part to its visual explanation that's front and center: https://raft.github.io/

EDIT: Turns out it's harder to find a paxos visualization. Here's one: https://www.scs.stanford.edu/17au-cs244b/labs/projects/vimbe... https://jivimberg.io/paxos-playground/src/main/html/