The change happened with the new iteration built within the grid like aluminium enclosure two years ago. As far as I understood, Brian was not satisfied by the existing push-encoder options on the market.
I have no experience with the original Arc but my feeling is that the push encoders are missing. You have push on something to switch between modes, states, pages or anything again and again and doing this either on the computer or on the small Ansible buttons (which then have long/short press gestures, because there are just two of them), takes away some of the magic from playing Arc and Grid as instrument interfaces. Watching the old push-button videos always seemed like a more organic workflow to me.
Then, I don’t have norns yet but I imagine it would feel different to me in this regard as I have a feeling that grid, arc and norns would build a functional unit again - with the modular or the computer arc somehow does not so much (while grid does).
Maybe it’s the aesthetic minimalism and and functional focus I imagine the new monome trinity will provide someday (On a side note, while seeing its usefulness I am also not very excited about crow to connect norns to the modular because the concept would then again lose this focus for me).