Wow, no. Bad misunderstanding of what legacy means.
Long-lived organizations all eventually go through tech renovations, where they re-platform their business functionality onto more modern systems. But sometimes, the cost/benefit analysis to that re-platforming doesn't make sense... yet. The pieces of the business still running on the former platform are legacy code.
People do understand it. Often, deeply understand it because they wrote it, and have lived and supported it for years. They know the reason behind the tech debt, all the odd tech constraints that drove it to where it is, they can keep the thing running without breaking a sweat. It is second-nature to them.
But it is not easy for anyone other than them. That is the true risk of legacy code, and that is probably where the author got off-track. They may have only ever worked in orgs after the last of the legacy coders left, and everything was a disaster. You definitely do not want to let a legacy system get to that point... and at the same time, if you ever do get there, the cost/benefit analysis has changed and you need to retire the legacy stack.
All that being said, now, yes, we can compare it to vibe coding. If nobody understands the code from the beginning, you never have that magical timeframe when someone just keeps the system alive with ease. You never solved business problems with it. It is just bad code launching straight into the disaster-filled zone where nobody can maintain anything.