Bitcoin did factually fail at its stated goal, as laid out in the original whitepaper. Bitcoin has not succeeded at being a peer-to-peer currency, because the "peer-to-peer" part went out the window when users stopped hosting their own nodes, and the currency part was abandoned when people realized that transaction throughput is fatally low.
Well, more like it’s no longer p2p after the 2017 hard fork and people are being pushed to use Lightning which centralizes over time through hub and spoke model, and many people prefer to use custodial wallets.