Earlier quoted context omitted.
SOAP doesn't have anything like the restrictions rest has, does it?
"REST" these days is a defacto code name for "(JSON?) calls over HTTP", with loosey-goosey adherence to anything close to what the original REST author meant. At this point, we might as well call it RPC-style organized calls over HTTP using JSON representations and defined by "Swagger" files. Likewise, most of SOAP was "RPC-style organized calls over HTTP (or TCP) using mostly XML serialization and defined by XSDs. Y…
I believe the triumph of REST over SOAP was mainly piggy-backed off of the triumph of JSON over XML (even though neither has technically anything to do with REST).
In practice, in most people's minds, REST == JSON and SOAP == XML and JSON > XML. Therefore REST > SOAP.
Though as you note, what most people today call REST falls way short of the whole singing and dancing HATEOAS bag that Roy had in mind.
(Personally I think hypermedia is way overrated for most APIs, though that's not an opinion many REST zealots are open to).