The RP2040 is definitely not pioneering here. More of a well-marketed "me too" device IMHO.
FPGAs, on the other hand, have always been for specialized applications. High speed signal processing for imaging, sonar, or radar. Boundary-pushing network interface design. That kind of thing. They use a ton of power and developers are hard to find.
Have you actually used one or looked at the datasheet? The 4 PIO state machines are pretty unique in the MCU ecosystem as far as I can tell. It makes "bitbanging" a completely acceptable approach for a huge number of protocols.
Just watch out for aliasing jitter at higher fractions (frequencies). If that's going to be an issue, it's best to use integer fractions of the main CPU clock, if possible.
However, there are applications where you just need high speed "bit banging", where you pretty much had to use an FPGA before.
I meant to mention RP2040 as an example, since I was talking about it's PIO feature, not because other microcontrollers do not have similar features, but because it's the most well known.
For example, RP2040 PIO is flexible and fast enough to run DVI/HDMI purely in software. Bit banging at 133 MHz (and even at 252 MHz overclocked, I'm sure there's no need for the do-not-use-in-production OC disclaimer).
https://hackaday.com/2021/02/12/bitbanged-dvi-on-a-raspberry...
*It's possible that some of this has been remedied, I gave up on them a few years ago and haven't checked back...
Programmable IO such as RP2040 (Raspberry Pi Pico) are eating a tiny (but increasing) part of FPGA lunch.
Altera (well, Intel) and Xilinx (well, AMD) are just hurting themselves by not working to move towards an open ecosystem.
Edit: Oh, so AMD is partially behind F4PGA. Well, points for them, perhaps it's time to move away from Altera altogether?