Natural History Museums Are Teeming with Undiscovered Species
theatlantic.com
theatlantic.com
The issue is that there are simply not enough trained scientists to study all that can be studied.
Perhaps there is hope for us all once the robots take our jobs:-)
E.g. there is a species where each specimen looks very different (e.g. size between mm and cm) depending on how much food they consume. The best way to differentiate is often to extract the genitalia.
One thing the article doesn't explicitly mention but alludes to is that a lot of species we think we know may actually be different species, or just the same species with a different look. A lot of the descriptions are 50 years old and read "black body with six legs and a head". So all those need to be re-done at some point.