FWIW I think that shifting quality has improved as we have gone from 8s to 9s to 10s. I can't comment on 11s because I've not used it much yet. I think that in most cases these shift quality improvements have been at the expense of durability in the chains and sprockets, less so the rear mech.
However these improvements are at least as much because of design features as they are anything else, and those design features can in time transfer to lower groupets with fewer gears. So for example, today, you can buy a 6s freewheel and chain that shift slicker than any that I used back in the day, even with old-style mechs that were not noted for their shift quality back then. Provided it isn't worn, I'd expect a 20 year old 8s mech to shift pretty well even today, especially if it is running a good quality chain and cassette.
What has happened is that mechs have become more specific to a particular task; having been all as one, shift ratio-wise at the time of 9s, shimano mechs are gradually becoming fragmented, as a species, with many different shift ratios in evidence, and some (like the shadow mechs) that will only work best on a wide ratio freewheel.
Fundamentally a single pivot slant mech (most SRAM, Shimano Shadow, old SunTour etc) will work pretty well on a small range of freewheel types; basically the slant has to match the range of the cassette pretty closely.
Most modern mechs combine the dual pivot principle (shimano 'panta-servo' they used to call it at one point, even though simplex had done it decades earlier...
) with the slant parallelogram principle. The dual pivot (and the dual parallelogram eg Huret duopar) principle should allow the top pulley to track the sprockets closely. This occurs at the expense of more moving parts (that can wear) and furthermore for various reasons the dual pivot principle has never been implemented in a perfect way.
What do I mean by this? Well the idea is that the pivots are sprung so that they counteract one another, thus leaving the pulleys to 'see' the approach/exit chain angles and therefore guide the top pulley to a constant distance from the sprockets. However in order to achieve this both springs ought to have equal (or constant) force, and they cannot do so; the springs are finite in size; they cannot be constant force, and each works in opposition to the other, so they can only ever be equal at one point. In fact I'm not sure that they can even be made constant
rate, they are so small in size. If the dual pivot principle worked properly, the slant parallelogram would be unnecessary.
There are secondary issues which have received attention in recent years, such as damping of chain slap, shift initiation threshold (*), wear, adjustment/alignment tolerance, wheel removal, parasitic losses, automation.... but none of these is anything other than subservient to the basic issues concerning guide pulley alignment, which is
still an incompletely solved problem IMHO.
So, I believe that there is a yet-to-be-developed derailleur that is fundamentally better in its primary (rather than secondary) characteristics. Such a mech ought to be able to handle a corncob (straight through) cassette just as well as a very wide range cassette, with minimal, (or no) adjustments. I think it can be done!
cheers
[(*) by which I mean how much input is required to get the chain started on the next cog. Tooth and chain shapes help considerably, but the mech must extend as the chain starts on the next sprocket and then contract once the shift is complete. Because of the way they move, some dual pivot designs are noticeably slicker than others when a downshift is initiated..]