Depends on where your destination is and how long you have to get there? Not everyone has limitless time to meander although I am sure most would prefer to go through interesting places, often have to chooses not to?
Yes, sometimes you do have to, but in general you don't.
You can probably go from end to end of Britain in a long day using motorways, or in a day and a half without.
People often hurry because it's habit, not because of real time pressures.
If you can treat the journey as something to savour rather than to rush through, it's much more pleasant.
The problem is that going through a busy town you spend most of the time reading road signs and concentrating on the lights and roundabouts and see very little, but end up quite tired. I have tried telling the satnav to avoid motorways on long runs but after grinding through several towns I wish I hadn't.