I watched it through youtube re-run last night. Unfortunately Gary Johnson did not take much of a stance on any issues. Most of his answers were "well, we are open for debate on this".
He had two big opportunities on audience questions:
1- Abortion, someone asked about Texas making it difficult for women to get legal abortions. He could have said something like: when a state creates regulations that limits people's rights it is the fed's job to step in and remove those restrictions to people's freedoms.
What he did say came across as very indecisive on the Fed's role.
2- Drugs. A mother had a difficult story about her son's issue with heroin, resulting in brain trauma and being 100% dependent on the parents. He said, we only want to legalize marijuana, then went on to discuss needle exchange programs in other areas.
What he could have done was use it as an opportunity to explain the stance on ending the disastrous drug prohibition. Moving the issue from criminal justice to public health would be a huge improvement to the current situation.
Weld seemed more decisive on certain issues.
I think the overall message they tried to express was a positive one, where they were reluctant to bash the D or R candidates. Hopefully some people were able to open their minds to some ideas and it may spur some further research into the libertarian party and principles