The flatblade screw used in original Colts and some other ARs is a PITA as well, b/c it requires such a large screwdriver. Using the wrong size buggers up the slot, slips, and makes you say 'pshaw' and 'sassafrass'. The buttstock screw also requires a big blade.
A good gunsmith's screwdriver set should have hollow ground bits big enough not to jump the slot, and the kits come with large handled drivers that give plenty of torque. Or, you can grind a large regular screwdriver to make it fit.
The use of allen keys has been addressed, but another advantage with the allen socket screw is in starting the thread in the receiver. While you are controlling the pistol grip, and the detent spring, it is sometimes difficult to get the screw started; lots easier with the screw captured on the allen key. Since the screw does thread in to aluminum, it pays to avoid a crossthread and also not overtighten the grip screw.
Don't want to start another 'ruined a Cali legal lower' thread....
Moon