Heidegger is, contrary to popular opinion, not that unreadable. Stambaugh's revised translation of Being and Time is really good.

The problem is laypeople expect to be able to understand advanced philosophy without knowing anything about the history that led to this point.

Nobody complains about, e.g., Weinberg's textbook on QFT being unreadable. I think this is primarily because Weinberg is basically unknown to people who haven't had 4+ years of physics education.