DOOM 64 might as well be the most underrated N64 game ever (at the time).
Just a year before DOOM 64 everyone was praising the PS1 DOOM port and how good it looks/runs. Yet, it's still a very compromised port compared to the PC version. The maps are still based on the simplified Jaguar ones. And the frame rate, while better than most other ports at the time, is still not stable 30 fps and still drops quite a lot. There are even some odd issues like the elevators/doors moving at half the frame rate or the maps being horizontally stretched for some reason.
A year later DOOM 64 completely destroys the PS1 DOOM console port and not only that, it even surpasses the original PC version, technically. While all other versions had sacrifices (even the PS1 one) the map complexity/geometry in DOOM 64 surpassed the most complex DOOM 2/TNT/Plutonia maps on PC. The new smooth lighting looked much better than the funny looking PS1 colored light sectors and the frame rate was perfect 30fps.
DOOM 64 is still the best looking/most advanced, officially released DOOM engine game. And yet, at the time it got mostly ignored because of things like Turok and Goldeneye. But in the end, DOOM 64 aged better than almost everything on that console. Not only because of it's map complexity and smooth performance but also because It's one of the very rare games that don't suffer from the traditional N64 blur issues. Some of the VI filters are disabled, which makes the image less blurry than 99% of N64 games. The textures are also more detailed and sharper than most games as well. It's pretty weird, it almost looks like a game running on a different console. But it was still too early to tell how most N64 games would look (and suffer) so the clean look/performance of DOOM 64 went unnoticed.
It did have some drawbacks, such as the very dark image and the lack of reload animations for the shotguns. And some of the enemy redesigns were bad (the Cacodemon for instance) and some others like the chaingunner and Revenant were missing.
I'm just glad it's getting the praise it deserves nowadays.