I have gardened, but personally I'm tired of it. And a garden is often impractical; takes a bunch of land, water, nutrients, requires enough sun, etc, besides the expenses, and the time and effort. I live on an acre of land and I still don't get enough sun because of where I live, and my soil is shit. I can grow things but it's quite hard and yields are pitiful.
I'm not a botanist but my understanding is that a combination of bio-engineering and growth hacks (ex. pumping co2 into grow tents, optimizing light, nutrients, hydroponics, etc) can have substantial yield improvement. It's not that cheap or scalable, though. My theory is that, for about the same money as heirloom tomatoes, you could get good yields, better flavor, have a smaller environmental impact, and avoid all the gardening limitations I mentioned. But I think bioengineering could maximize the yield more than current methods (especially if pests weren't a concern, ex. a climate-controlled grow closet)