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I mean, I don't personally like it either (Pick Up and Haul 4life) but I can see why Ludeon doesn't do it.
It's never going to happen. Tynan has discussed hauling balance in the past. Making hauling smarter or more efficient to any degree would mean he would nerf movement speed, item weight, and/or hauling frequency so it takes the same amount of time/effort. That would be a waste of developer time, ending up in essentially the same position we are at now after all those changes, he said, so it's just going to stay as is.
Hauling is meant to be a significant task in the game, it's the core of logistics, it's balanced around how long it takes now and needing a proportionately large number of haulers to keep up with things. A mod like "Pick up and haul" is not QoL here, it completely goes against the intended developer balance in the game and diminishes the usefulness of things like hauling animals/mechs/dryads.
Everyone is going to have different opinions on this, and there are multiple flavors of mods to adjust it to what you want it to be. I use a mod to increase stack sizes so more can be hauled at once, and a mod to increase the frequency non-human haulers check for new hauling tasks. How it works now though is a deliberate design decision and how the developers want it.