I don't know about you but for anything less than ten pages I find man much easier than info for one very simple reason: It's easy to scroll through a stream of text. It's also easier to hit / and search the whole document, it's easy to not get lost, etc.. Info's problem is that info readers don't default to a man-like one-big-document, which is well known, well accepted and suitable to a terminal (which is, I imagine, where most man and info pages are consumed).
I've used pinfo and it helps some in the UI department, but I'd still use man over pinfo for almost every trivial lookup. If your goal is to completely replace man then your system needs to be a drop-in replacement from a user interaction point of view, with the advantages discoverable by users who are interested in learning them.