What's often missed when this topic comes up is the question of who the back end API is intended for.

REST and HATEOAS are beneficial when the consumer is meant to be a third party that doesn't directly own the back end. The usual example is a plain old HTML page, the end user of that API is the person using a browser. MCP is a more recent example, that protocol is only needed because they want agents talking to APIs they don't own and need a solution for discoverability and interpretability in a sea of JSON RPC APIs.

When the API consumer is a frontend app written specifically for that backend, the benefits of REST often just don't outweigh the costs. It takes effort to design a more generic, better documented and specified API. While I don't like using tools like tRPC in production, its hugely useful for me when prototyping for much the same reason, I'm building both ends of the app and its faster to ignore separation of concerns.

edit: typo