That's why they added those contextual animations in the story missions. It's supposed to be a story-driven game with some occasional wandering about from A to B and side missions, all with a purpose, to do something specific. This is also why they let players to enjoy those moments whenever they occur.There are a ton of roleplaying opportunities surrounding eating and drinking. A person down on their luck drowning their sorrows in a bottle, a couple sharing a romantic meal, or a merc relaxing at their favorite diner after a day of clearing gigs.
We already have a role of V, who's clock is ticking and there is not much time to sit around.
"Creating a detailed, immersive world and then making it impossible to interact with is a massive fail for an RPG."
Yeah, you can tell that to other award winning, critically acclaimed and praised all around "RPGs" that sell millions of copies every release.