I can attest to this to an extent.
For example, KCBS sounds pretty bad in the car (muffled and difficult to hear if we're driving on a noisy road), but I can tune it in on my Sony SRF-A100, and even in DX/narrow mode, it sounds quite a bit better (it sounds fantastic in local/wideband mode, of course).
So with a decent receiver, stations can still sound OK. Even the less good sounding ones can sound better.
In practice, yes.
Under "laboratory" conditions, though, I've found that, again, in wideband stereo mode on my SRF-A100, my Part 15 actually sounds really good. Almost as good as FM, in my opinion (it helps that I have taken great pains to ensure that my processing sounds as good and as transparent as it can, which has taken much trial and error because I learned as I went). I also broadcast in stereo, so that makes a difference too (everything sounds better in S-T-E-R-E-O!!! 😛).
On my car's radio? It sounds about as muffled and indecipherable as KCBS does, so is all that time and effort spent on processing (and transmitting in stereo) a waste? Maybe so, but not to the one or two other people who might care to listen in on a decent receiver.
c