Trump is NOT going about this in a reasonable way. He's publically airing the complaints which only serves to do the bidding of Vladimir Putin to destabilize western alliances. Yes, other presidents have rankled at the burden sharing, but remember, WE wanted NATO from the beginning if only so that WE could control the various dangers inherent in Europe after WWII (eg a resurgent military in Germany AND holding back the Russians).
For Trump to act like we are somehow put upon to "defend Europe" is absurd in the extreme. Our lives are made MUCH BETTER with a safer Europe and one in which we are the dominant military.
I'd be A-OK with Europe adding more to the pot but that was never really the end goal.
The weird part of this current kerfluffle is that Trump is so NAKEDLY doing Putin's bidding. Trump, being TV guy who is "media savvy" (or so we are told by his supporters) must KNOW that his public approach to constantly undermining the value and commitment to NATO is a PERFECT way to achieve those things.
Think of your workplace. You may really hate your management and the workplace and think that they are doing everything wrong, but would you then go out and publically slag your company? Do you think that would work out for you in the long run? No, most people would endeavor to change it from within, keep it inside the office. Because publically slagging your workplace will likely end up either with you out of a job (fired) or your company being harmed and you out of a job (laid off due to collapse of the company).
I believe this is called STRATEGY. Something Trump seems to know NOTHING about.