I mean, what is really the difference between the encounters in Judgment vs the encounters in the rest of the Gears games? You go through a door, you fight rock goblins, you progress forward, fight more rock goblins, go through another door or slow-walk-and-talk, etc.
Mainly what Judgment does is cut out most of the slow-walk sections, turret sections, boring "horror" levels, terrible vehicle sections, etc. Yeah, the explicit gamification of each area makes it feel like less of a journey and more of, well, a game...but by the fourth Gears game, I was okay with that change (especially since 4 and 5 go back to lots of walk and talk sections).
And yeah, the literal 'defend this point' sections are literally Horde, but Horde is fun, so I'm fine with it.
What you will get is really fun variations on Gears encounters, especially if you do all the declassified stuff (which, if you aren't...why are you even playing Judgment? Hahahah). You'll also get the most enemy variety, situational variety, and weapon variety in the Gears series.
I think I said it back when we first discussed it, which is...while Judgment may not be the best first-time through Gears game, it's definitely the best Gears game to replay (especially with the procedurally generated enemy spawns). It also has some fun Gears lore regarding the UIR, with Paduk and Sofia (and an interesting later level), which has a slight pay-off when you get to Gears 5. It also has, by far, the best playing last boss in the series. Oh, and once you're done with Judgment's campaign, you get a really solid bonus chapter that is lifted straight out of Gears 3 (including the standard campaign format, control scheme, and 'go on a contiguous journey' feeling).
And like I said way back then, I totally understand not liking Judgment, as it's entirely dependent on what you come to the series, or games in general, for. It's less 'journey' and more 'just action'. If you're in it for the sense of adventure, characters (though I'd argue that Paduk and Sofia are good additions) and meaningful story impact, then yeah, Judgment does not deliver at all. But if you like Gears for the fun combat setups, enemy variety, and encounter design, Judgment is ace (there's even a really good 'storming of Normandy' level).