Historical reasons. The HTTP/1.1 spec actually recommends limited to 2 connections per domain. That said, I'm not sure why it's still so low. I would guess mostly to avoid unintended side effects of changing it.
This is no longer true.
From RFC 9112 § 9.4 (https://httpwg.org/specs/rfc9112.html#rfc.section.9.4):
> Previous revisions of HTTP gave a specific number of connections as a ceiling, but this was found to be impractical for many applications. As a result, this specification does not mandate a particular maximum number of connections but, instead, encourages clients to be conservative when opening multiple connections.
When index.html loads 4 CSS and 5 JS : 10 ressources in HTTP 1.0 needed 10 connections, with 10 TLS negociations (unless one ressource loaded fast and you could reuse it's released connection)
With HTTP1.1 Pipelining you open only one connection, including a single TLS nego, and ask 10 ressources.
Why not only 1 per domain so ? IIRC it's because the 1st ressource index.html may take a lot of Time to complete and well race conditions suggest you use another one that the 'main thread' more or less. So basically 2 are sufficient.