Both fared far better this time around. Contrary to what you may see around the internet the debate was moderated about as well as it could be considering the decorum on display at the previous debate.
Both candidates were far more focused. Biden still suffered from his usually occasionally stirring and mixing up a few words, but he communicated his points well enough. Trump rebounded a bit from his to common place meltdowns this year and seemed to be more composed like he was in 2016. However he still went on several of his infamous tangents and said some, interesting things...
Both of them had a few gafts, the worst was probably for Biden his unprovoked and unnecessary comment about beginning to phase out oil. It not even a fault with the policy position at all, all signs point to oil being on its last legs and a need to find new energy sources, but he said it unprovoked and in quite a blunt fashion that can easily be weaponized against him, and it might hamper his chances at an upset win in Texas. Trump's gafts have more to do with the man's modus operandi, you probably can guess a good portion of what his controversial statements were. They've become so normal at this point their hardly notable or news worthy.
Trump did not control the conversation like he did in the first debate. He still provoked Biden into answering a few of his own questions, but Biden was able to pretty effectively come up with clap backs, and was far clearly far more prepared for Trump's antics. Trump did suffer from focusing a bit to much on slandering Biden instead of laying out future policy positions. It was at its worse during the health care segment, where Trump repeatedly brought up Bernie Sanders and Biden was able to easily mock him about debating the wrong person.
There was easily enough substance there to cherry pick and make a claim for either candidate. I think all in all Biden did present himself better, but Trump's return to his brand after some shaky moments this year likely pleased his base. I doubt this debate was of much consequence for manys opinions.
The replay is easily accessible on CSPAN's YouTube channel. I would highly recommend at least skimming through it and coming to your own conclusions. I don't thinks you'd miss much since neither candidate broke new ground. I would recommend watching the final question, since both candidates responses sum up their entire debates nicely in my opinion.