I disagree. If you switch to the Part Design workbench, it's basically the exact same workflow as SolidWorks. Draw a sketch, add constraints, extrude / revolve / fillet, etc.
Yes they have some unconventional names for certain operations, like "pad" instead of "extrude", and yes there's a confusingly-similarly-named "Part" workbench for doing CSG-style CAD, and yes it takes a bit of practice to get good at it. But it's not next to impossible.
I think it's fair. I use FreeCAD a lot, and the word I would use last to describe the UI is "discoverable". Ignoring whether a workflow is possible - whether the functionality exists at all - there's a whole lot of it that you have to Just Know, or equally as often Just Know That It's Not Actually Broken. The very fact that you started your comment with "If you <do X thing that you have to be told to do>" is precisely part of that.