I do because I've worked with the code. It's not 100% beter or something like that, but the Phalcon framework does impose quality requirements to work with it effectively. It also has immutable facilities loaded as an extension (for speed benefit but also means you can't actually mess with the framework at runtime).
While I haven't really done any hardcode PHP work after PHP5 came out, there are plenty of ways to do it wrong, and a few ways to do it right. One thing is separation of concerns and encapsulation to the point where a fault in PHP can only mess up the PHP part and not the external system PHP calls into to ask for configuration changes.
Currently, a lot of the old pfSense code has been removed and replaced with code in the MVC framework, but it's a lot of work, and the team behind open-source OPNSense isn't huge. It will take time to cover it all.