Yes, but the accessibility of TLA+, if you come from traditional programming languages, is quite harsh. I have 2 books about it and keep coming back to it every once in a while, but every single time there is a lot of investment into the exact syntax of certain things. Better tooling like AI autocomplete is a huge step there. I can still think about the spec, but not get stuck every single time on minor details.
> if you come from traditional programming languages, is quite harsh
This may be the result of failing to adequately distinguish between the spec and the implementation. PlusCal, as I understand it, is an attempt to bridge this gap for programmers who don't yet have a good grasp of this distinction. So where in TLA+ you would model the observable behavior of a system in terms of transitions in a state machine, PlusCal gives users a language that looks more like implementation. (Frankly, I find the PlusCal approach more distracting and opaque, but I'm also a more abstract thinker than most.)
The devil is in the details. That's the whole point of formalism. There should be no ambiguity meaning what's written is what you want to be written. If you generate and can't prove what's generated is what you intended, the whole point of even writing it is moot.