This has never been Rails' focus. Let Rails keep doing what it kicks ass at. Sinatra works great for API endpoints. There's probably an opportunity for an API-focused extension to Sinatra. Of course, Grape works too (https://github.com/intridea/grape).
The nice thing is that all of these are built on Rack now. GitHub.com runs as a Unicorn rack app that mounts over 30 Sinatra apps and a massive Rails app together. I'm not saying this is an optimal solution, it's just where the app is at in its current evolution. But it is very possible :)