I recommend this talk to see what both technologies can still "learn" from each other - https://youtu.be/LUF7plExdv8. I don't think SPARQL or GraphQL completely replace one another.
If I have to write something that’s REST-ish, I’ll do my damnedest to make sure it’s HATEOAS, but in my experience, the number of developers who can consistently produce useful and consistent HATEOAS APIs is…vanishingly small.
I can learn more about an API from its GraphQL schema than most of the other API documentation (like OAS/Swagger or RAML) out there.
Because relatively few developers truly understand HATEOAS let alone REST. I think that did play a small part in the increased popularity of GraphQL.