I try to point out to people who use words like "legacy" as an insult that the system having reached that status and still being maintained is a sign that it has served a lot in the past and probably can if maintained with care. I think the "my dream would be to rewrite it from scratch using [FOTM language]" is a bad mindset.
I think we should be curious about old software like we are about many physical old objects. You wouldn't visit a windmill and call it a terrible relic of the past; you would marvel at how ingenuous people had been with so little back then).
By cherishing and caring for what we have been handed over, we have a great opportunity to maintain and improve it, and hand it over to the next generation/team.
I live in Japan where the care for other people work is everywhere, and i can witness how it then motivate people to do their best, and cultivate a culture of respect and care.