It’s hard to say. There are pros and cons, obviously. FIRST switched from 2 team alliances to 3 team alliances in 2005. I was not around then, so maybe someone who experienced that can explain their feelings about the change. I would guess that because it hasn’t changed back since then, it’s probably been a good change.
My view on 2-team 2-field competitions:
Pros:
Matches can be run near-constantly (field 1 runs while field 2 resets, etc.)
Teams are likely to be better ranked after a fixed number of qualification matches
Teams probably squeeze in one or two extra matches (8 teams playing instead of 6)
Cons:
Alliances (especially alliance 1) can be even more unbalanced (1 picks 2 and that’s it, no snake draft)
You lose some of the (imo, inspiring) scale. Robots on a sports-sized field feels better than robots in a smaller space, for subjective reasons. Perhaps that the current FRC scale is quite analogous to human-game scales?
Setting up and running two fields is a different challenge. Some volunteer and set-up aspects are likely quicker (only need one, albeit slightly more complex AV-system), and some are slower/require more manpower (refereeing/scoring/FTAing, etc.)