I think they did take one lesson from the ACA that you can see in the Covid bill: don't waste time trying to get Republicans on board. Basically everything that sucks about Obamacare can be directly linked to taking conservative ideas in order to woo Republicans into voting for the bill.
Ultimately, the Democrats learned that effort is a huge waste of time, and I think one of the Democrats who was front-and-centre to learn that lesson was Biden. Now, is that the only lesson to be taken from the whole experience of the ACA? No, of course not, but if the Democrats spend the next two years not waiting for Republicans, they may not do phenomenally well in the 2022 elections, but at least they'll get some stuff done.
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