My first weld on a VW muffler looked like a cow pie. It has held for three years now, and my welding has improved to where once in a while I make a nice looking weld. My welding rig is about as cheap as you can get, a 110volt 70amp arc welder made in Italy and sold under the Campbell-Hausfeld name at Home Depot. The electrodes are a bit cheaper at a welding supply store in bulk. Other suppliers such as Harbor Freight Tools stores have similar low-priced arc welders, as well as metal cutting tools.
Thick steel requires multiple passes.
Arc welding takes much practice and patience. Weld appearance isn't very pretty. It stores neatly on a shelf. It is inexpensive. It quickly pays for itself.