No, there has not been an improvement, and in fact, things have gotten worse in a lot of ways. Most of that is due to SPAs, and people who decide to use JavaScript when HTML widgets would suffice.
I'm also involved with a text mode web browser project, [edbrowse](https://edbrowse.org/). Ten years ago, it was feasible to use edbrowse for a great deal of online activity. For instance, I used it to make purchases from Amazon and other online stores. I could log into Paypal and send money with it.
Then, in the mid 2010s or so, SPAs started becoming a thing and edbrowse broke on more and more sites. At this point, in 2024, I can't even use it to read READMEs on Github.
And yes, I have accessibility trouble when using mainstream browsers too, all the time.