I think what OP has glazed over a little bit, is that authentication is a massive, thorny exception to their advice of "adopt the Same Origin Policy instead."
Consider these authentication use cases:
- Sharing sessions across mail.google.com and drive.google.com
- Sharing sessions across google.com and youtube.com
- An okta.com generating a session on google.com
- Persisting a youtube.com session even when youtube.com is in an iframe on example.com
All of these scenarios are reasonable, but it's a huge challenge to support all of them in a privacy- and security-conscious way.
That being said, I generally agree with the advice of "adopt the Same Origin Policy instead" after authentication is solved.