On one hand Lucas hated directing and that is why he gave it up. And on the other hand he hated to cede control of one of his films to anyone, except the exception being Steven Spielberg. He hated films going over budget, he hated the writing process and didn’t like the technological limitations in his way of achieving his vision.
Collaboration was a necessity but he didn’t like to do that either.When it came to do the prequels he just decided the hell with it and wrote and directed them himself to avoid what happened on Empire and Jedi. Its his way or no way. It would have been the same for the sequels had he not sold to Disney.
I do not think he hated directing per se. He probably just hated directing under time, budget and overwork pressure. During the filming of ANH he was under a huge pressure. During ESB and ROTJ he had to create and handle several films (OT + Indiana Jones) and had oversee a major expansion of his company. He just did not have time to also be physically on the set everyday working with the cast and crew. Around the time of PT, he was under no such pressure any more and he probably enjoyed it (the result being bad, but that is not the point).
Also, I do not think he ever expressed any major dissatisfaction with ESB and ROTJ (besides going over budget on ESB). In the end, Kershner and Marquand stuck to his vision and ideas very well during the filming process.
As for the writing, it is probably a similar case. For example, he said he enjoyed writing a screenplay for ESB. To my knowledge, he only complained about writing for ANH.