I spent several days with an X and yes, the falcon wing doors are overdesigned and not all that necessary. They're sometimes finicky and don't open all the way because they think there's something in the way. They make access to the rear seats easier in tight parking but the front seats are still constrained by the limits of traditional doors — limits that don't matter for either front or back when you've got Summon to park the car after everybody gets out. They're utterly confusing to people who don't know how to operate them (even after a few days I was still getting tripped up).
But you know what? They're so damn cool. Pretty much every other time I opened those doors in a public place I was engaged in conversation about this insane car. They really do make getting into and out of the rear seats easier. And even though they serve the same function as a traditional column-hinged door or sliding mini-van style door, they just seem so much more awesome.
If he could go back in time and push the fancy falcon wing doors to version 2 of the Model X, would Elon do it? Possibly. The hyper-complicated doors were in part responsible for 18-month delay it took to get the Model X into production. But at the same time, they're a signature feature that makes the Model X more than just a taller Model S.
All of that isn't even mentioning that while it would be technically possible to replace the falcon wing doors with hinged doors, that's not remotely in the realm of possibility. It would be a herculean engineering task, encompassing the interior and exterior design, safety structure, electronics, safety testing, manufacturing, and external suppliers.
Yes, the doors are kinda stupid but also incredibly amazing and they aren't going anywhere.