Luckily for us my two year old has always slept well and doesn't throw massive tantrums. So i'm happy we're having another. I think it's good for a child to have a sibling, but it's a choice, not a requirement.
In general you don't become a parent because of how "tough" or "easy" it will be, you do it because you truly want kids. If it ends up being tough, well, that's what you signed up for. It is what it is.
I think a lot of people complain more about children these days because of the fact that they are waiting longer (not in bad way) to have them (career, school, etc.). Once they do have them these days we tend to be in our early 30's - which means we get tired quicker and have become used to a lifestyle that only involves our needs, and maybe because we're just not as tough as our parents were.
Our course there are other reasons as well (just don't want any, can't have them etc.) - But I believe the fact that many of those that do have kids, have hard a hard time with it because of the fact that we wait to have them at an older age now. Our bodies just can't handle it like we could have if we had them in our mid 20's. Esp. the thought of caring and loving more than one.
This isn't exclusive of course, I am sure there are many people that consider themselves better parents because they waited - and they probably are mentally - but it's harder on the body as we wait, no question.