Where they can shine is if you need some odd combination of peripherals attached to a microcontroller: think of something like a uc with 4 uarts or multiple separate i2c buses.
Anywhere you need a lot of parallel processing that you can guarantee won't be interrupted, like a video processing pipeline is also a good fit.
You might find this video helpful: https://www.youtube.com/watch?v=us2F8wAncw8
I think his design is very interesting, showing how to mix custom peripherals with picosoc so you can get very good response but also be able to program in C.
If you're building a device that's going to be mass-produced and sold, then the situation is different and using FPGAs can make sense, because you'll amortize the engineering cost for the digital logic across all the units you sell. It can be worth it if it lets you use a cheaper processor or microcontroller.