Here's an example for you with the Sennheiser MKH 416 boomed over subject with the XLR going straight into the URSA Mini Pro G2. Pocket 6K Pro was synced via timecode and I used the same audio from the UMPG2 for any switches to that camera.
This should give you an idea of the quality of the audio when doing this. Now, I know there is music underneath this finished video. But you can still hear the voice with clarity. Such that you can judge the quality of the recording by going direct into camera.
This is a method of recording I do often and have plenty of clients happy with the audio quality. Now, when I can I do use a Sound Devices Mix-Pre because obviously the quality will be better. And, when the budget allows we have a dedicated sound person.
I wish I could provide some other examples I've done for clients but some of it is unable to be shared at this time. The BTS photo I provided above is from a documentary that I cannot share with anyone yet as they are still in production. And, I have other corporate videos I cannot share examples from either. But I could share this other older video where I did the interviews on the UMPG2 with the 416 going direct into camera:
https://vimeo.com/767116139/954d7b156eAgain, it's a finished video and there is music under the voices. Yet, you can still get an idea of the quality of the audio from the recording straight into camera.