The short answer is... the web moved in a different way than expected and the useful portions of rest were preserved while other portions were jettisoned (the biggest one IMO isn't the hypertext portion (JSONs fine, it's
fine) but the self-discoverable portion - I haven't seen a self-discoverable REST API
ever in the wild).
Unfortunately the name REST was too awesome sounding and short - so we've never had a fork with a different name that has proclaimed itself as something more accurate.
I don't think this is awful, FYI - it's sort of the evolution of tech... the OG REST wouldn't have ever gotten popular due to how stringent it was and I can use "That it's RESTful enough." to reject bad code practices without anyone being able to call me out on it because nobody actually remembers what REST was supposed to be.
I'd also add - what precisely is self-descriptive HTML? All descriptions need reference points and nothing will be universally comprehensible - let alone to a machine... expecting a machine to understand what "Insert tendies for stonks." on an endpoint is unreasonable.