It's still a yes/no answer when you're comparing to two different systems, though. Pedal travel can vary from car to car to get it to stop and to press the m/c enough to stop the car. Variables abound on this such as if there is air in the lines, mal-adjusted brakes, leaky m/c or other issues, requiring more or less pedal pressure, and whether the actuator pin or push rod is adjusted correctly (there's a tool for that). IIRC, the G-body boosters came with a non-adjustable push rod to the m/c which you use the go/no-go tool to see if it's at the right position. If it's not, there was supposedly a service kit with an adjustable push rod that could be installed to correct it.
All things being equal, I like the power brakes myself. But as
TURNA points out, it will always take that certain pedal travel to push the m/c pistons the amount necessary to stop the car. But they still can be different from car to car. The pedal is direct to the m/c in the non-power brake setup obviously, so you can't simply take the booster off and think you can bolt the m/c to the firewall to get manual brakes. You would need an adapter plate and a new push rod setup for a G-body anyway. In the power systems, that hard pedal is a fakeout because if you're on a hill, see how far you roll when you hit that hard pedal when you put it in neutral with E-brake disengaged and the engine off. You'll then be standing on that joker trying to stop the car. It takes a more pressure than manual brakes to override the booster without vacuum similar to losing power steering. It just takes more effort.
Luckily, if the valving is sound, the booster has enough vacuum reserve for maybe one or two more vacuum-assisted pumps of the brakes if the engine shuts off.
No idea about quality here, but they do make kits to put manual brakes on a G-body (shown for example only) if you prefer.
https://www.amazon.com/dp/B072MK6BFY/?tag=gbody-20
For most of our 82-88 G-body power brake cars without hydroboost, they used the "FB" coded p/n 18010120 dual diaphragm booster. Supersession number is 18060040. The factory ones were cadmium plated through 1984, and then painted black from 85-up. Same unit other than paint/plating.
The rebuild kits have been discontinued, and even the latest ACDelco remanufactured service replacement booster p/n 19286983 has been recently discontinued as well. There's some other brand rebuilt units out there, but again, no idea of quality. There may be booster rebuild kits out there, but they're not sold by GM and I'm not sure where to get them. Boosters are a bit complex to rebuild and if you don't know what you're doing in there, don't go there. It's all simple until you get to the valve guts/seals. This is major safety you're talking about. No hacks allowed in there.
Then again, I could be talking out of my arse.