It might seem strange but yes.
The primates (apart from the tamarins and colobus) at least have some sort of outdoor access (though they all definitely leave a lot to be desired apart from the macaques) and a fair amount of enrichment. The bear exhibits, while nothing but pool and concrete overall, at least have more open areas to scan their surroundings compared to some other bear grottoes that are more enclosed. In addition the black bear exhibit is slightly improved with the stream, trees, and substrate areas but again, not by much. The pachyderms are actually very close to being tied with Small Mammals because of the horrendous interior (I nickname it "Pachyderm Prison") and terrible elephant and hippo exhibits; but what does put it slightly ahead is the outdoor rhino pair of exhibits - which are so-so at best. Small Mammals is just depressing with unnatural, cramped terrariums for many active social animals and no outdoor access (the lemurs do have outdoor access, but they're off-display to the normal public, and they really have very little going for them from what I can tell).
That being said, I agree that all three areas you mention are also among the worst that Milwaukee has to offer along with Small Mammals.