Hi!
From my perspective, I kind of agree to the point of ROS got too large to handle. Humble is ~1000 packages with very varying level of code quality, and since I tried to cross compile most of it, I think I can have an opinion on that.
One thing that really makes me wonder if ROS is the way to go for implementing an industrial grade robot are the quality issues. Although it is not a big issue, I came across a regression that is described here and I offered a PR here but for the past 3 months or so nobody even seems to have the time to say that this is bullshit and needs to be closed. The recently (finally!!!) addressed realtime issues might serve as another example.
That said, I had PR towards Microsoft that got merged 2 years in, so I still have not lost faith 
My point is: given the limited resources, would it make sense to focus on a ROS2 - Core, instead of adding all those packages that soak up so much resources… ?!