Seeing as people continue to post technically good singers that they just don't like...
DLR's live vocals may be shaky in his old age, but they were always perfect for VH recordings. His voice and added inflections were very musical. Sammy Hagar may have had better technical ability, but to me it's screechy and less organic.
I'd make the same argument with Paul Di'Anno's vocals on the first two Iron Maiden albums vs Bruce Dickinson on the rest.
And Bonn Scott vs Brian Johnson.
Sometimes the original singers were the best match.
I defy anyone to sing along with Van Halen recordings and keep up with DLR and all his yipping and yapping and those 'wows' or whatever his trademark sound . It's very difficult.