The only non-keyboard-and-mouse RTS I can think of is Tooth and Tail[0], designed to play nicely with controllers (in a similar way that that Halo Wars was back in 2009), and while I'm sure high-level play in those games was indeed very high-level, the whole experience nonetheless just doesn't work for me, it feels 'dumbed down' still.
[0] - https://store.steampowered.com/app/286000/Tooth_and_Tail/
That said, I'd still prefer keyboard and mouse over a touch screen.
It was a also a design challenge to make the genre work in the first place for mouse and keyboard.
My ideal RTS would support delegation of armies, and giving broad stroke orders (hold that area, attack this base, provide air cover), with either AI or human players picking up those responsibilities.
Some numbers: AoE players 16k https://steamcharts.com/app/813780 SC2 players ~100k https://www.rankedftw.com/stats/population/1v1/#v=2&r=-2&sy=... Minecraft ~178M https://activeplayer.io/minecraft/
There are plenty of people that are happy to play games without having the dream of becoming an esports player as career.
StarCraft 2: Wings of Liberty sold 6 million, but only small fraction of the playerbase is interested in competitve aspect.
Minecraft is just an online sandbox. Most people will play it like that.
Plus a gamedev doesn't need to take into account what sells, but what kind of competition you have. How will your Minecraft clone exist in market with Minecraft vs how will your M RTS live in a market with StarCraft 2.