The way to access your folders in windows is literally exactly the same -> show hidden folders - the "urls" (%APPDATA%) are just shortcuts because of the historical moving around of stuff. Most devs leave all sorts of trash in OSX application support, check it out, its jam packed. Some apps are now running from there.
And yeah, Application Support is full, but as noted the worst offenders are consistently cross platform apps that don’t care to adhere to convention. The Application Support folders for Mac-first apps are usually pretty lightweight/clean, with exception to apps like Logic which use it as a place to keep downloaded assets.
I think they finally stopped the re-hiding behavior.
None of that compares to the mess that is Windows's user directories. I mean... WTF is all of this stuff? There are two or three copies or shadows of the user-directory structure, and everything is "forbidden..." Windows is just painful and infuriating to use at this point.
Either way, the end result is still better than under Windows because at least macOS doesn’t go out of its way to keep the Application Support folders (user and global) hidden with magic URLs and such. Tick the checkbox to not hide the Library folder in your home folder’s Finder inspector window and the only thing making access harder is gone.