Variety is needed for evolution.
If you are looking for major developments like those that were happening in 90s and early 00s you will just not find those - in any genre. There needs to be a major development in what is possible for such changes to happen. Since 7th generation things were pretty uneventful. Gradual enhancements but no game changing developments, aside from more and more aggressive monatization. VR seemed like the next possible thing, but it is just doesn't seem to go anywhere. Maybe it is too expensive for now to really make an impact. If you are waiting for an RPG that won't look or play like older RPGs - I think you will have to wait. Since I was actively playing (so about 20 years) games have been mostly just getting prettier.
I thought D:OS1&2 were actually very little like classic RPGs - they use their own quest design and world structure, they focus on coop and player to player interactions, favour sandbox systems. Combat system is unique (on a side note during "golden age of RPGs" Sven wasn't about to make turn based RPG as it wasn't deemed as fashinable at the time) and translating status effects into on map surfaces that can be used tactically through positioning and changed by adding new status effects on top of the old ones have been a very clever and novel design. I can't recall an RPG before where players could talk and argue with each other in game. I do say, that my feelings toward D:OS2 and BG3 are cooler - I feel they Larian didn't develop their own ideas, and istead focuses on adding stuff players expect from RPGs.
PoE1&2 definitely harken back to old, but I think you are also overlooking the fact that they don't play completely like the old games. The system is completely original - overlooking how the game plays I think would be a big mistake. Evolution is on a systemic level, rather than technological one. I also don't remember any game before doing reputations like PoE does them. Nor companions that would join conversation as much as companions in Deadfire.
On a similar level Disco Elysium has some very clever designs when it comes to reactivity and character building. The companion you get is incredibly complex, but I can't tell if there is something special about his design, or just so many resources were poured into a single companion that he stands out.
I think that saying that modern RPGs didn't evolve, is a bit like looking at DOOM and new shooters and saying they haven't evolved because you are still just clicking on enemies. Yes, the last major changes to RPGs happened when they were translated into new platform - consoles. So yeah, recent more PC centric releases feel a bit more "oldschool" as they are being designed once again for PC again. Unless there will be new platform to translate RPGs to, new interesting control method, or a new techology appears that will set a completely new standard for what is possible, I don't think we will see a groundbreaking new design.
Yes, I too wish we had more truly interesting titles like Dark Souls, Death Stranding or Outer Wilds, but like with any medium I think one needs to accept that a lot of new things done will be expanding on existing ideas, and only occasionally trully new ways of thinking will emerge. The question about cRPG isn't "are they like the old ones" but "are they expanding/improving on what the old ones did" and "is there more one could do in the genre". If the answer is "yes", than there is a very good reason for those games to be made.