You should give it another shot if you get the time. My first time playing it was also on the Switch. I still think the controls are a bit strange but I had a lot of fun playing through the game. The first 5 hours or so were awful though, mostly because I went all the wrong ways at the starting area and got destroyed. In total I put 115 hours into it and stopped halfway through NG++.
To me Dark Souls is the kind of game where you start out thinking "This is ridiculous, how am I supposed to survive?" but then, once you finally beat the boss or area you've been stuck on, you think "That wasn't so bad." I think the best parallel on NES is Ninja Gaiden. I felt that way when fighting Bloody Malth and playing all of world 6. A very close second would be Ghosts 'n Goblins, though that one leans more on the unfair side.