Demosaicing algorithms are
very good at restoring the resolution "lost" to the BFA. They can introduce some artifacts (zipper effect, "labyrinth", fringe color, to name a few) but in general, sharpness isn't lost as much as people imagine.
Nowadays they classical algorithms are being replaced by convnets that are trained on different BFA/image pairs and can get very good results -- at the cost of placing a convnet in the middle (so much higher computational cost, which can be offloaded to a GPU/AI accelerator if available).
If you want to see what a "pixel perfect" camera gives you, there are the Sigma cameras with Foveon sensors[0] or you can check the cameras that have a sensor-shift superresolution approach (some pro Olympus and Hasselblad models have this feature). Sensor-shift SR has the problem that it works best on static scenes, because it takes several images which are then later combined on a single picture, and if there's movement between the images it may introduce a few artifacts.
[0] which do full color data for every pixel, as they use silicon depth to filter wavelenth