Is there a way for pilots to report difficulties and challenges experienced during a flight, to the next flight crew?
"Difficulties" are hard to quantify. And it's questionable whether a difficulty experienced by one flight is even relevant to the next. Many difficulties are transient in nature (eg: weather, crew, cargo loading).

However, there is what is known as an Acceptable Defered Defect:


  An identified aircraft defect which has been assessed as being within the requirements of the Minimum Equipment List (MEL) or Configuration Deviation List and has had rectification deferred within a specified limit. Also referred to as a CFD (Carried Forward Defect)


This is used to notify future aircrew of a specific aircraft of any defects which, although does not require the aircraft to be removed from service, may be relevant to its operation. 

Pilots absolutely check this before every flight.