Disable Haptic Touch on IOS 13 (keeping 3D Touch)

Solution 1:

Apple discontinued 3D Touch in iOS devices starting with iOS 13. 3D Touch relied on special screen hardware to determine the amount of pressure being applied. Newer iPhones (anything after the iPhone XS and its variants) do not have that type of screen.

The only way to return to 3D Touch on older devices with pressure-sensitive screens is to revert back to an older iOS version.

There's no way turn off Haptic Touch on iOS 13 (the latest iOS version as of now). You can adjust the sensitivity and duration by going to Settings -> Accessibility -> Touch -> 3D & Haptic Touch. You can turn 3D Touch on and off here.

From here you can adjust the "Touch Duration" to see if that helps you.