No. Some things (like unit selection) went away simply due to 1upt. Others (workers not interrupting orders while barbs are a VISIBLE THREAT, issues attempting to move a unit when playing quickly, shoddy-autopathing by threatened units on multiple-turn move orders) remain intact straight from the problems list of civ IV.
The ironic thing is that the V AI is objectively better than IV's, but is hamstrung by bad gameplay rules/balance which limits it.
So the answer to the question of satisfaction with the UI, is, in a word, no.