Much depends on precisely how we define the term "Middle Ages".
The centuries following the Western Roman Empire's fall are usually called "Dark Ages", followed by "Middle Ages" then "Renaissance" in Western Europe.
Of course, the Dark Ages were not so dark in the Eastern Roman Empire, and the Renaissance is said to have begun & ended over a period of centuries, depending on which part of Europe we're talking about.
The Middle Ages themselves are often divided into Early Middle Ages, High Middle Ages and Late Middle Ages, each with distinguishing characteristics, depending on time and place.
But the bottom line is: if we pick out just the best of each age, then it will have much to recommend it.
Conversely, if we focus on just the worst of each age, then it will have much to condemn.
Just as Charles Dickens said of Paris and London during the French Revolution:
Wise comments.
Though I suspect it’s difficult to find a great deal positive in the Dark Ages.