Every console of the early to mid '90s had to make major compromises in order to manage to produce 3d graphics. The Playstation released at just the right time to get a very good balance between power and performance on the one hand, and price on the other. Unfortunately for a Sony hater like me, nobody else managed it nearly as well -- the N64 released later and certainly has much better graphics than Playstation but also has a few compromises with its texture resolutions and framerates; the Saturn theoretically matches or beat the PS1, but between its much higher price and horribly difficult programming usually falls behind Sony; the 3DO at its best can match early PS1 graphics, but released too early to hold up to its better-looking games; the Jaguar could have been good if its hardware wasn't a buggy mess but it is, and it'd be much less powerful regardless due to its earlier release date (though I think its being bad at textures has helped its games age better for sure! Flat shading doesn't get as dated as mid '90s textures.); the PC-FX has fantastic video playback, better than any of the above apparently, but can't do 3d at all and failed miserably as a result; and the other systems are minor.
So yes, PS1 3d absolutely can be hard to go back to, as the polygons warp all over the place and those horribly pixelated textures and jagged, aliased edges hurt my eyes, but every system of the era had major compromises of some kind of another; hardware was not advanced enough yet to do the flaw-free, high framerate 3d you see in the 6th-generation consoles, and that is part of what makes 5th-gen 3d so interesting... what did people need to do on each format to make 3d games? What were the compromises, and what subjectively do I think works better or worse, between the approaches? And such.
Atari Jaguar, 3DO, Philips CD-i and the like are all much worse in this regard.
What I'm saying, though, is that there are loads of gorgeous 2D games on PlayStation - some of the best pixel art ever created exists on that platform. It's gorgeous.
There's plenty of great looking 3D games too, though - fighting games, shmups and the like all hold up really well and tend to run at 60fps.
You look back at the 3DO or something and the average frame-rate is like 12fps and there are literally two games that run at 60 on that machine. I love 3DO but it's aged much worse.
The issues with PS1 tend to become evident when you have a 3D camera that moves in close proximity to a surface. If the camera is close to a surface, the affine warping becomes super apparent and it looks awful.
Purely looking at texture warping, the 3DO isn't as bad as the PS1 because, like the Saturn, it uses quads instead of triangles, and quads have much less noticeable warping than triangles.
That said, in terms of graphics, certainly the 3DO does not match up to the PS1 -- 3DO graphics at their best match early PS1 graphics, which is well off from the system's peak. But the later, best-looking 3DO games manage to look decent for the time -- Star Fighter, Blade Force, and such. The 3DO is also not great at FMV playback, with relatively low-quality video compared to later consoles, or the CD-i before it -- compare 3DO vs. CD-i Dragon's Lair, it's not even close. There are things to like about the 3DO to be sure though, visually, Star Fighter looks great...
As for the Jaguar, I got a Jag last year and disagree on that one, its mostly flat-shaded polygons have aged quite well! Sure, the framerates in 3d games are often atrocious so if that's what you mean I agree, but those super-pixelated PS1 polygons, something I've always disliked the look of, are not an issue on Jaguar most of the time because most 3d Jag games don't use textures. I don't know, I like the look of games like Iron Soldier and I-War. Club Drive is quite charming as well. And the Jag, when programmed well, can handle better framerates in 2d games than the 3DO -- compare Jag Rayman to 3DO Gex. (Yes, I know Jag Pitfall: The Mayan Adventure runs badly because of how horribly buggy the Jag hardware is, presumably, but the system can do better...)
As for the CD-i, I got one of those last year too and what it does well it does VERY well -- when it comes to video playback, I don't think there is any doubt that the CD-i, with its digital video cart addon, is the best by far of all consoles released before 1994, and it matches or beats most of the consoles of '94 as well; only the PC-FX definitely matches it, though the PS1 got there eventually and the Saturn can with the digital video cart. For those "images with music or voice description" discs, video-heavy games, and the like, the system shows off how much better it is than a Sega CD or Turbo CD. Certainly, when it comes to animating a platformer game or such it struggles since the hardware was not designed to do that well, but hating on the CD-i seriously undersells how impressive its video playback was for the time. The video in CD-i games holds up far, far better than video in its contemporary systems like the SCD.