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The only way to get a weld that looks like the first pic is with a TIG and a perfect fitment. If someone can set-up a wire feed machine to look like that - they are weld gods.

I've never used an auto-shade.

Soapstone or scribed lines help a ton.

Extra light doesn't hurt either, but the soapstone shows up brilliantly even with an 11 shade.

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I have a Lincoln SP 155 220V Mig. I use 0.035 wire for 90% of my welding. I can weld on steel just about as good as that pipe in the turntable above. It should look like stacked coins that got knocked over all around without too much undercuts. It can be done. Now my stright line welds are a bit ziggy-zaggy and I have lost some stabilty, but if I can rest my hand or arm on a guide, I do ok. I also hate freehanding pipe as the Arthritis is a bear going around corners in a full "Non-Stop" bead.

PRACTICE PRACTICE PRACTICE. My weld instructor would kick my *Banned word* around my sholders if I blew a weld. He was a ROBOT!!!