I find it weird that you’re grouping what are essentially almost fully open-ended custom designs, under the umbrella of designs that either “sacrifice gestural immediacy”, or do not favor “complex control possibilities”.
There is nothing stopping you from packing a small, instrument-sized Eurorack modular system with any of the almost 500 available modules filed under Controller category in MG, patching it in a specific way and leave it like that forever. The expression, modulation, and patch recall options available are well suited to the task. Can’t speak for other formats, but in Eurorack you have Select Bus, patch matrices, CV-to-MIDI, MIDI-to-CV, hands-on controllers, foot controllers, faders, knobs, touch surfaces, brain controllers, etc.
Unless the idea is to not opt for a custom design, but go for the get-if-from-the-shelf option. Not wanting to derail the thread into an unending barrage of eurorack suggestions, just wanting a clarification as to why you seem to dismiss these as “studio instruments”. Is it the hard-wiring behind the panel that promotes the former to playable?
I also find that the parallel between patch recall and acoustic instrument “flexibility” is somewhat flawed. Expressiveness and the range of sound in physical modeling is grounded on the controller, while the model ideally remains the same. Similarly, in a patch, a control parameter would allow you to modulate numerous characteristics under modest gestures, in a way that will vary the sound immensely with different techniques, without having to resolve to patch-recall to switch between fortissimo and piano, or legato and staccato. Even in software using sample libraries (which is the most commonly used alternative to having actual musicians around), the push is to move away from having the user switch to different techniques, rather than the controller automatically do that under gestural changes.