No, not really. If anything it was less streamlined. The only reason someone would believe that is if they played it knowing what they know from Demon's Souls.
Bonfires are more readily available than stage start points, it's much easier to become human and therefore summon, guaranteed healing items, easier grind spots, over-powered weapons 2 feet from the starting point. I didn't have as much trouble as Flamelurker or False King Allant with any boss in Dark Souls, and it's not just because I'm better, I still have trouble with those bosses when I go back to Demon's Souls.
I prefer Dark Souls, but I still feel it's easier to replay than Demon's Souls.
No item burden. No weird symbols for stats. No world tendency. Respawning crystal lizards. It was streamlined.
Also this, item burden is a big one. Plus having access to all the weapon/armor/repair stuff at a bonfire. And not being able to perma-miss upgrade items..