Maven / Java seem to have solved it well.
My recollection is that Java libraries were larger, higher-quality, more stable, and better-maintained, and you didn't need as many of them. A Java jar was not a "package" but contained dozens of "packages" developed together. Jars tended to be self-contained or mostly self-contained; small dependencies would shipped inside. The idea of making npm packages as small as possible, like practically putting each file in a separate git repo, and publishing it as a separate artifact, emerged shortly after NPM itself, and it was radical, and not really particularly good. Java also has a much larger standard library, and between the packages that come with Java itself, the packages that aren't technically part of the standard library but were written by Sun/Oracle, and well-known third-party utilities, you didn't need a lot of third-party packages. And if you needed something tiny like left-pad and didn't have it, you'd probably just copy and paste it.
Maven doesn't allow execution of arbitrary code at install-time, which curbs a large number of potential supply-chain attacks.
Because of the JVM and JARs being mostly self-contained Maven doesn't really need to worry about system or runtime dependencies (unless you're using Scala...). This allows Maven to be a 'dumb' package manager that relies on simple semantics (no hidden specially-generated indices, for example) and be fairly successful. Of course, there's an internal battle of whether Gradle or Maven is superior, but they both rely on the same distribution and packaging specifications.
I have many gripes with Sonatype but Maven Central isn't really one of them. The fact you can publish a packages to the likes of PyPI, npm Registry, or Docker Hub with 0 friction makes those places very attractive to spammers and bad actors. Maven Central having a higher barrier of entry is a feature.
IIRC Brian Fox, the CTO of Sonatype, was actively involved with Maven in the early days and was part of the decision for Maven packages to use domains for namespaces. Namespaces are another valuable feature of Maven that makes supply-chain attacks like typo-squatting harder to pull off.
At the same time, some people genuinely shit on Maven Central and think that it's inferior to other registries.
I think golang has the best answer for this, where it's easy to impersonate but it has to be explicit.
I think Go's approach is interesting, though it does rely on some magic that isn't immediately obvious. I agree that being explicit is a tremendous benefit: it avoids the attack used here, and makes it less likely for typo-squatting to succeed (e.g., `npm install axiod`).