svn was the result of everyone getting fed up with cvs; basically it does the same thing as cvs, but does it in a less janky way, and with atomic commits. but it still suffers from cvs's design weaknesses
vesta was a digital research (decwrl?) project from the previous millennium; peter deutsch told me about it at the time, but it was still proprietary, and it took them a while to be able to open-source it. it was basically a clone of dsee, just like clearcase, though perhaps better done. it wasn't motivated by dissatisfaction with cvs and in fact couldn't do things cvs could do
i think the main thing that kicked off the cambrian explosion wasn't 'everyone getting fed up with cvs' but rather tom lord (rip) writing arch (tla, later baz and bzr) which demonstrated to everyone that it was possible to do enormously better than cvs/svn, with features like atomic commits, forking your own branches without permission from the core team, decentralization, and serving from regular ftp or web servers (no special server software)
these design features were ideologically driven on tom's part; he wanted to give ordinary users version-control tools that were just as powerful as the ones used by core teams on projects like freebsd and apache, motivated by the same egalitarianism that had led him to become an employee of the fsf
and i think graydon hoare's monotone was the thing that most inspired the other follow-on systems, like git, mercurial, codeville, fossil, maybe darcs, and maybe even baz and bzr
maybe kernel hackers getting experience with bitkeeper in 02000 to 02005 added motivation for moving to better-than-cvs-and-svn models too tho
shlomi fish's site from the time in question has a lot of material on what was happening, including even lesser known version tracking systems like aegis: https://better-scm.shlomifish.org/aegis/