The reason we went in will always be cloudy. Was the intel fabricated, or did Saddam manage to cover it up before the invasion? That will always be murky, but I think removing Saddam needed to happen. The real problem is what he was replaced with has been far from great, and corruption has spoiled the transfer. In some areas like infrastructure they're still hurting, but in other ways the country is more prosperous. I saw an account from a boy that grew up during both Iraq wars. His father was a government employee, his mother a full time teacher, and they made a combined 11,000 Dinar a month during the rough years right before Saddam was removed. That translates to $6 a month! It was incredibly rough, but he said it was also safer. There were few car and suicide bombings, streets were in good repair, they feared only one man and if they kept their mouths shut they were generally safe from him. However they were also locked down to just state television, very limited internet and cell phones, etc. Now they live comfortably with much better wages, better access to information and entertainment, yet safety is a greater concern. The Sunni/Shiite power reversed, and the corruption has not struck a fair balance that it should have.
It's complicated. In many ways they are better off, and in other aspects they were actually better under the dictatorship. You see a lot of varying opinions from Iraqis online depending on how their lives have changed since 2003. Many seem to agree they welcomed Saddam's removal at the time because they were hopeful that the change would bring peace and prosperity. Today they're a far cry from the change they hoped would come, and the influence of ISIS hasn't helped the situation. Bottom line: most Iraqis have been happy with Saddam's removal and it was the right thing to do even if the reason we went was wrong. Sadly the power void and what was implemented to replace him has failed in many ways, and so many Iraqis are left still suffering.