Imagine you have an informally-specified, undocumented, at-least-somewhat-incomplete state machine. Imagine that it interacts with several other similar state machines. Still easy to reason about?
Now add multithreading. Still easy?
Now add locking. Still easy?
Cleanly-done state machines can be the cleanest way to describe a problem, and the simplest way to implement it. But badly-done state machines can be a total mess.
Alas, I think that the last time I waded in such waters, what I left behind was pretty much on the "mess" side of the scale. It worked, it worked mostly solidly, and it did so for more than a decade. But it was still rather messy.