I found their idea about defining commands very odd, but when we ignored these entirely and just went with the good old page pattern, the tests became very tame again. All the cypress-internals are done in small methods within page-objects, the tests contain only the abstract page-object-methods.
But yes, when we tried to run with the patterns they advertise, the tests became indeed hard to write and read; maybe we did it all wrong but it's at least consistent with the experience expressed by you and others in the thread here.