No matter how clear it is, the audio is half-duplex, meaning the small overlaps that are part of normal conversation control-flow instead make it crash and burn. Calls work fine for one way presentation or very structured Q&A, not so much for interactive discussion.
I .. really don't experience that, we're regularly 3 on zoom and we chat as if we were in our company offices. There are some audio issues if we really overlap too wildly but really it got to the point that seeing zoom webpage makes me smile.