If the Spanish take a beating, that is simply accurate, their fleet was mostly rotting in port (litteraly roting).
French did have some good scadrons, some gave the british a good run, some others even if they sunk did great damage to the RN (I think about the Morlaix, but it did happend several time). The problem for France was while we do have honest scadron commanders, we only have decent fleet commander (Latouche-Treville) with eventually a second one who refused the position (Surcouf, the famous privateer that scared so much the red coats).
Holland did nto have any fleet since we captured it when the zuydersee was frozen.
The RN was in that situation, having been heavily defeated during hte French and Indian war (7 years wars for us) , a big renovation in both new ships, new way of construction, new handling of the creas and their training, new training of the officer class from top to bottom; and now the RN did have new ships, competent crews, worshipped hightly competent commanders (I believe it was at that time the RN started to 'retire' , with extreme prejudice if needed, incompetent commanders).
To be honest, if you put Villeneuve in charge in the RN in Trafalgar, and Nelson in charge of the Franco-spanish fleet, not only it would have been a great victory, but the whole GB would have been french within 6 month. And Nelson was only one amongst many gifted commanders in the RN; while Villeneuve was a 'more than the average' french admiral.
Anyway invading GB, or even challenging it in the Channel shall be almost impossible (the almost being the key word).