I think that one of the biggest fallacies of gaming is the idea that D&D can do everything well...
To be clear, I very much adored the 3e/PF1 era of D&D. Every edition is different and this one had some staying power, which is why I followed it to PF1 vs 4e.
Different editions of D&D play differently, but what we remember decades later are the stories we told more than anything else - the unique stories we couldn't get elsewhere that are unique to our group relative to others, that played the same adventures. Typically regardless of the rules or editions, crazy antics will come down to a series of fortunate and unfortunate rolls, and where the d20 is involved that's 1s and 20s (or as close as possible).
This was the disappointment with codifying "Legendary" skills in PF2. A "Legendary Thief" (pg168) can "steal an object that is actively wielded.. You must do so slowly and carefully, spending at least 1 minute and significantly longer for items that are normally time-consuming to remove (like armor)..."
I want to say these are antics we pulled back in 1e/2e games when there were less rules... I've had a player sneak under table during a meal and steal the magic slippers off an NPC without needing a 15th level Feat. Most of the Legendary Feats are things I'd love for players to just attempt without having to actively build a character to do so. In a player's mind, if they are playing one tabletop campaign in their life and they're "The Thief" they want to flex and try all these things and not be told by the other players, "Oh, you need to wait until you're higher level and take a feat to try that." And it has this other awkward side effect because you had to "build towards it" where now you're trying to do something was a narrative gem but it's now a commonplace ability that you want to use once per session because you feel like you spend a character-building "resource" to obtain it.