From what I can tell, Siri is still a dumpster fire that nobody is willing to use. And I have no personal experience with Alexa, so I can't speak to it. But I do have a few Google Home speakers and an Android phone, and I have seen no major improvements in years. In fact, it has gotten worse - for example, you can no longer add items directly to AnyList[0], only Google Keep.
Or, as an incredibly simple example of something I thought we'd get a long time ago, it's still unable to interpret two-part requests, e.g. "please repeat that but louder," or "please turn off the kitchen and dining room lights."
I find voice assistants very useful - especially when driving, lying in bed, cooking, or when I'm otherwise preoccupied. Yet they have stagnated almost since their debut. I can only imagine nobody has found a viable way to monetize them.
What will it take to get a better voice assistant for consumers? Willow[1] doesn't seem to have taken off.
[0] https://help.anylist.com/articles/google-assistant-overview/
edit: I realize I hijacked your thread to dump something that's been on my mind lately. Pipecat looks really cool, and I hope it takes off! I hope to get some time to experiment this weekend.