Yes, it depends much of the lens. Some inexpensive EF SMT have good and silent focus, almost all L lenses have good focus, but not so silent. Newer lenses have smooth iris, the iris is still with steps but moves smoothly in between.
I think they are good for many uses, and BMD now finally have the EF lens control on good level. The lens also returns the focus distance and zoom, but not very accurately. The control is kind of absolute, but easy to throw that off by manually focusing, so yes there is limitations. Also the BMD USB PTP control, the basics are good, but much to improve, some clear bugs also.
The RF lenses would be much better suited for video tasks, but proprietary interface, EF was never designed for video, but on the later models, I think they have tried to improve that within the limitations of EF protocol.
The photography lenses in general are not that good for external servos. their focus and zoom do not work smoothly, usually hugely dampened for manual use and often terrible startup friction. The EF lenses also often have freely spinning focus ring and no way manually control iris.
I have lately been working with Sony ES8230 block camera. it has lens control to dream of, mechanically that is. it can do very slow speed and smooth zoom, is fully silent. but unfortunately limited somewhat by the VISCA control. We have build way around of that by combined speed and absolute zoom demonstrated on this video
https://youtube.com/shorts/hw-derIYeHc?feature=shareFor BMD pocket cameras the MOVCAM focus tool, considering the options, looks pretty good for many tasks.