What would make a friendly interface in your opinion?
The sq frontend uses git style subcommands to clearly separate actions from options. This is something that gpg doesn't do too well. For instance, commands (e.g., -e) look like options (e.g., -r). If no command is given, gpg tries to guess what you meant, which is perhaps good for users, but bad for programmers. And if an option isn't relevant to a command, it is often just ignored, which again, is perhaps reasonable for users, but bad for programmers.
I have nothing against the git style subcommands, in fact I think they are great. A friendly interface would in my opinion be from the perspective of an end user. In the case if GPG the end user can have a couple of goals in mind, to encrypt, decrypt or sign data. Although you could do a lot more things, for most users those would be secondary goals.
I guess the average user doesn't necessarily know about autocrypt, ASCII armor, OpenPGP packets etc. Those users would have to guess whether they need to (do I need autocrypt? Why isn't it a default?).
To be honest I don't think the usage output is very bad in its current form, but as a start for something that will evolve over the years I am not so sure.
The sq frontend uses git style subcommands to clearly separate actions from options. This is something that gpg doesn't do too well. For instance, commands (e.g., -e) look like options (e.g., -r). If no command is given, gpg tries to guess what you meant, which is perhaps good for users, but bad for programmers. And if an option isn't relevant to a command, it is often just ignored, which again, is perhaps reasonable for users, but bad for programmers.