RISC-V is not an ISA, but an ISA generation framework.
If RISC-V would've standardized aarch64 1-to-1, the end result would've still been a huge extension mess, because a lot of people (RVI member) have different requirements and a very happy to build their own subsets, which would then be upstreamed because multiple vendors want the same subsets and compatibility between them. Obviously it would've been better, similar to if RISC-V spawned with RVA23 done, but development takes time and RISC-V International started, because people where already using RISC-V.
RISC-V also is the most DOSed ISA, with people proposing crazy stuff. Just the other day somebody proposed an instruction that would do up to 2^30 16-bit comparisons in one instruction at the largest VLEN. Because they wanted to improve their string processing usecase.
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In my experience RVA23 matches aarch64 and x86 in uop count (without fusion), code density is better, instruction count is slightly higher. The biggest impact on the instruction count advantage of aarch64 over RVA23 is a single instruction, load-pair, which gets cracked at decode in every high-performance implementation, because it writes to to registers.
The Arm approach to code density is using multiple writeback instructions that have to be cracked and the RISC-V one is RVC. Both prohibit simple linear scaling of parallel decoding, so code density seems to have mattered to Arm enough to make the tradeoff worth it.