I'm going to go against the grain here and say that forced stealth sections, while a thousand times less common than escort missions as a gameplay element, are far worse and more frustrating.
Very few non-stealth games do anything other than ruin stealth, which is something that requires a deep level of realism to even work in a way that users will intuitively understand. In an unrealistic action game, these sections never amount to anything.
Meanwhile, you can spice up escort missions with new dialogue, sudden desperate action sequences, and/or sudden changes in the terrain on the way. Escort missions are only dull if you're escorting through a normal town or country area that doesn't do anything extra for the mission (I'm looking at you, GTAIV friend quests). So I think the hatred for them is mostly for the dull kind, and that's justified.
It's just too bad that we're ready to get rid of something without considering if it would be good if we made certain changes. I think it could, and that it's been done before.