It sounds like we're of a similar generation, but my experience was that unfortunately finding good textbooks for mathematics was also very hard. The average textbook was a dry, boring regurgitation of the standard definitions and results in a field and some associated proofs, with no added insight or motivation or context or example applications whatsoever. Many of them were written by the same academics whose lecturers were similarly bland and uninspiring.
Most of those academics could have done with learning about the ADEPT method we're discussing here and similar ideas. Unfortunately, they just had no interest in doing so. As you say, teaching well takes time, but it also takes a willingness to try to teach well.
I remember a particular meeting at the end of an academic year where the teaching representatives of the faculty at my university were seeking feedback from the undergraduate students. When one of the students boldly (but entirely fairly) asked why the presentation skills of most of the lecturers were so bad and why they weren't required to undertake training to improve when the university's teaching so fundamentally depended on them, the reply was essentially "We know and we agree, but they wouldn't accept it." In almost any other profession, the response to substandard performance of a key job function and refusing to undertake measures to improve would be getting fired.
These days, with students here in the UK paying thousands of pounds in fees every year on top of what we used to have, I can't imagine that official response would go down any better than it did for us, but as you say, these days there are more promising alternatives. This is why I think universities need to stop being the main tertiary academic education, at least in anything like their current form.