I saw tremendous hate towards the controls before release, but bit the bullet anyways. I play it on my 4S, and it's actually amazing. I haven't had any trouble at all, and I was able to control weapon changes and radio station changes easily without a tutorial.
You can even make the driving use the accelerometer or use joypad or a left and right button like Chinatown wars. On foot it's even better.
Anyone that tells you they can't play the game can't play ANY game on the iphone, It's so smooth and simple. They are just gonna be the same players that only play angry birds or they are the anti touch screen gamers.
I wouldn't say it's made for touch screen, but it sure as hell works.