The table at Crit Role just runs differently than any table I've played at. The DM is interested in fleshing out EVERYONE's backstories instead of just running his plot. Each player is deeply invested in the story of their character AND everyone else's, instead of just killing stuff.
So, when we talk about CR, we should remember what they are trying to do. When we talk about them being successful, we need to actually say, "They are successful at doing such-and-such."
Critical Role is a successful streaming show. They've tried to optimize D&D for that - they have professional actors as players, and so on.
Then you must ask, what does being "successful" mean at your particular table? Probably not - you are not optimizing for a viewer, you are optimizing for the players you have.
You have Steve, who's your big roleplayer - he loves the drama. Jane is good at and interested in the small-unit tactical wargame, but can't really act her way out of a paper bag. Kevin is not too shabby at either, but his goals are really just to be at the table, have a beer or two, and hang out with his friends. And so on.
There are definitely tricks you can pick up from CR, but your situation and goals are different than Mercer's, and so when doing analysis of what we can take, we must keep that in mind.