I don't think the question can really be answered in full, since "pleasant" is both difficult to define and extremely subjective (I have absolutely no doubt you could find large numbers of people in any society who would describe their lives as pleasant at least some of the time). "Orthodox" USSR is also somewhat difficult to define, since the USSR of 1985, that of 1970, that of 1955, that of 1940, and that of 1925 are all quite different places to live, so I'll take "orthodox" as more or less a continuation of the mid-1980s status quo; that is: continuation of the Cold War, Communist monopoly on power, oligarchic leadership (rather than one-man personality cult a la Stalin), extremely high military spending, a centrally planned economy with most market elements being illicit, strong corruption, high alcoholism, a pursuit of autarky when possible (eg, better to mine iron in Siberia then import it), incredibly poorly managed agriculture, and a policy of exporting oil in exchange for agricultural goods and Western technology (there's no contradiction between this and pursuit of autarky when possible; the Soviets imported things that they couldn't make themselves). I'm also going to focus on the economy, not because high GDP per capita or household consumption or growth is necessarily a proxy for "pleasant," but because that's what the discussion has focused on.
The Soviet economy worked (on its own terms) extremely well from the 1920s to the 1970s (IIRC, of major developed economies only Japan did better, and Japan is a freak of nature an anomaly). But it was very much not working by the 1980s:
1) Lifespans were actually declining, at the time a hitherto unseen phenomenon in developed countries
2) The USSR was falling ever further behind the West in terms of living standards. Since the USSR derived its legitimacy in large part from how well its working class lived, the fact that they were objectively better off in the West and the gap was growing was a disaster for the state.
3) The USSR was falling behind technologically and unable to catch up. The USSR also claimed that its system was better at delivering scientific and technological progress, another major blow to the legitimacy of the Soviet state.
4) As an attempt to solve (2) and (3), the USSR began importing capital goods and food from the West. This worked for a while, but the only thing the USSR really had to export in large quantities was oil, since Soviet manufactured goods and agriculture were way behind the West.
5) The USSR's industrial and mining plants were wearing/running out. Factories built in the 1930s, 1940s, and 1950s were increasingly falling apart and outdated, mines located in European Russia were running dry (and thus both more expensive to run and less productive). This was an issue for the US as well, but the US was able to (partly) solve it via world trade: importing steel from more efficient Japanese plants and resources from the Third World. The meant that the USSR was investing more and more in to industry and resource extraction and getting less and less out of it.
6) Related to 2-5, the USSR was not making the transition to an information/service economy well (granted, this was/is a difficult transition for every country, but particularly bad for the USSR).
7) The Soviet military budget was absolutely enormous, and it had to be to retain parity with the far-wealthier West.
8) Due to 1-7, the USSR's economy was stagnating and increasingly dependent on Western imports.
In short, the impetus behind Gorbachev's failed reforms was real and the Soviet economy was not in good shape by the 1980s. I'd argue that it probably would've suffered a precipitous collapse in the 1990s much like the former USSR did. Compared to the fUSSR, a hypothetically continued USSR would've had some advantages:
1) Institutional continuity and stability. This is huge; revolutions are bad for GDP.
2) Keeping together an integrated economy. The various SSRs were not separate economies, they were thoroughly integrated with each other. Separating different steps supply chains and enterprises from consumers added another layer of chaos to a chaotic time.
It also would've had some serious disadvantages:
1) Massive military spending and subsidies to allies. It's not that Communist countries per se are unable to have low military budgets (see: reform era China or the early USSR, where the military was seen as a threat to the revolution), but the "orthodox" USSR specifically will continue to have a massive military budget.
2) No help from the West. In a world where the USSR still exists and is a major geopolitical threat, it's not getting loans and bail outs when it goes bankrupt. These did not solve the OTL situation in Russia, but it will be even worse without them.
And IMO the most important factors would remain the same:
1) Collapse in oil prices; this is huge, since the Soviet state is dependent on oil to purchase much-needed food and consumer goods. The drop in oil prices that helped trigger the USSR's OTL collapse was only the beginning of a much more severe drop.
2) Collapse in social trust/belief in the system. Quite simply, by the mid-1980s, not enough people believed strongly enough in the Soviet system to keep it running properly. Corruption was endemic, criminality was spiking even before the collapse, alcoholism was skyrocketing, and army morale and professionalism were at their lowest since the purges.
IMO, an "orthodox" USSR will have to reform or die in the 1990s no matter what. Something has to give; there just won't be enough oil money to keep the military, the civilian economy, and agriculture going at the same time. Either the military/diplomatic budget gets slashed to the bone (IMO unlikely without total system collapse, since the military was a strong bloc within the Soviet state) or there is a collapse in living standards and possibly even famine. Quite probably both will happen. You might be able to delay reforms by ousting specific leaders, or change what reforms are done, but there just isn't enough oil money in the 1990s to keep the decaying Soviet economy running.