A family of Microsoft relational database management systems designed for ease of use.
I am not sure what you mean here. Once you link Access to Dataverse tables, they operate very much like native Access tables would, or SQL Azure tables, etc. I've created multiple forms based on Dataverse tables which work every bit as they would if they were relational Access tables. You can find a video of a presentation on themhere.
It is true that Dataverse considers one of the other fields in the table "the primary Key" not an autonumber PK previously designated in Access. It is not possible, I'm afraid, to provide a full tutorial in this context, so I'm doing to suggest you look at a couple of YouTube videos, starting with this one
and this one on PowerApps with SQL Server, from an Access developer.
"To do so would require creating a query from the tables and then a form from the query."
That's true for Access local tables, as well, is it not?
"Dataverse shows the Primary and Foreign Keys but not the names of the customers or the names of the orders."
Again, that is how a properly designed set of relational tables in Access works, so the problem here is unclear.
At the moment, I'm creating a full featured library catalog application for a small local foundation. It is linked to SQL Server tables (fully relational), but it could have been Dataverse tables, just as easily. I'll produce a series of videos documenting it when I get through the data entry in a couple of months. It's all being done remotely, by the way, which is one huge advantage of this technology.
In short, I think the problem may have more to do with less information being available about how Dataverse works, than with any shortcomings in the architecture. I agree fully that DV tables are more challenging conceptually. So, I urge you to dig deeper into the way Dataverse tables implement things and how you can exploit them.
All of that said, if I had to choose between SQL Azure and Dataverse, I'd come down on the side of SQL almost every time. But Dataverse tables do work properly in a relational design, and moreover, they offer the advantage of off-line synching. If that's a key requirement for an application, you can't beat Dataverse.