As a more positive reflection of the criticism, here is a list of things I think we're brilliant, if poorly executed.
Morrowind's reinvention of Learn by Doing. While they didn't invent it (Sierra used the idea in the mid 90s to mid 90s) they way they approached it from Morrowind onward has been nothing short of foundational.
Skyrim's Perks. I've said it once, I've said it a thousand times, and I'll keep saying it. Skyrim's Perk System was superior to Attributed, Oblivion's Perks, and Fallout 3s Perks COMBINED. Being able to represent specialisation, specificity, technique, and general application all within a single system was, and remains, nothing short of revolutionary.
Fallout 4s Dialogue System. Hated it when it was showcased, and I was a very vocal opponent of it initially. But once I realised what you could DO with it, I saw the genius behind it. Though I sometimes think not even Bethesda knows what they had, considering the dumpster fire that is Starfield's Dialogue System...
Starfield's Persuasion System. Just... An absolutely master stroke. Keeping Persuasion conversational while also skill based, allowing for inclusion of discovered options rewarding out-of-dialogue investigation and exploration, it's just... Magnificent.
Now, all of these things are pretty poorly utilised even in the games where they appear. But if used carefully, and with more refinement, they could very easily create an RPG the likes of which we haven't seen since the original Baldur's Gate.