I've said this multiple times here now, but the Touch Bar is really a joy to use and very useful if you're not the person who's always using only Vim. My personal feeling is that the people who dislike the Touch Bar heard the bad things about it, tried it for a time and two, decided that it's not something good, and spreading the word.
Text suggestion is super useful, the emoji selector is useful very much, text formatting controls are very useful, debugging controls are super useful (and much superior than fn keys), moving between tabs are super useful, etc... Really I can't understand all of the hate that the Touch Bar gets on HN.
And yes, you can touch-type on the Touch Bar, it's not context-sensitive enough to develop muscle memory. You can just reach out your finger from your keyboard without seeing when you're using a particular app. You get muscle memory on how to trash the files on the Finder, comment out a line or rename a variable in Xcode, control display or volumes, move between videos... (And you can type esc super-reliably without looking at all, so really 'You can't use Vim with the Touch Bar' is a bit exaggerated.)
One tip for all of the Touch Bar MBP users - you might want to install the app HapticKey[0], which is a very super useful app that provides haptic feedback on every Touch Bar touch. I consider this the biggest mistake on Apple's part - with haptic feedback it's much easier to develop muscle memory (although I did develop muscle memory without this app too).
[0]: https://github.com/niw/HapticKey - or you might like 'brew cask install haptickey'.