Do you think it is/was a legitimate Christian practice?
Of course.
If so, is it something that Jesus instructed or something the apostles implemented with or w/o guidance of the Holy Spirit after His ascension?
I have no idea if Our Lord explicitly authorized Apostolic Succession or if it came about by necessity but I believe it is legitimate either way.
Do you think that since Judas was such a extraordinary case
He was chosen by Our Lord. He didn’t have to make the choices that he did. The fact that he did make those choices does not invalidate his apostleship.
Or do you think it was necessary only until the reformation and the advent of the printing press?
I don’t know about all non-Orthodox and non-Anglican Protestants but at the very least the Southern Baptists have a sort of bizarre form of succession. By no means is it apostolic but they do have something.
When conservative SB’s retook their denomination back in the 80’s, they elected a Southern Baptist Convention president named Adrian Rogers. Rogers was a conservative Baptist’s conservative Baptist. He made several staff appointments and these appointees made appointments of their own and so on until they held a monopoly on the convention.
Every single office holder in the Southern Baptist Convention can trace his “lineage” back to Adrian Rogers either directly or indirectly.
The SB’s don’t call this “succession” but that’s basically what it is. It’s a fallen, flawed, imperfect and absolutely fallible tradition of men they’ve created out of whole cloth. But they now have their own form of succession. They’ll deny it but it’s true. Easily verified too.
The fact is there must be a human leadership of some kind to ensure doctrinal fidelity. We Catholics believe ours comes from an unbroken line that goes straight back to Our Lord Himself. And that too is easily verified.
In writing, the Southern Baptists say they believe Sacred Scripture alone should be the sole rule. In actual practice though, they agree with us that succession (at least of some kind) is non-negotiable.
I’m not sure if other Protestants have similar non-apostolic forms of succession but the Southern Baptist Convention most assuredly does… even though they’ll probably deny they even have it.
Most rank-and-file Protestants probably don’t pay much attention to apostolic succession. The few who have considered it likely assume (as I once did) that it’s possible for an entire institution to be wrong so it is too risky to place one’s trust in fallible men rather than God’s Word.
For these types, reading the Church Fathers is the ultimate antidote, the perfect inoculation against ignorance as to historical practices of the Church that go back to the very earliest days of Christianity.