Well, sometimes you do want to control something directly over the internet, especialyl in industrial applications, like imagine you are monitoring a vehicle's location or temperature/humidity of a fridge in a supermarket.
My limited understanding of encryption/TLS and playing with microcontrollers, these devices can't have the full list of root certificates that we would have access to with our browsers / on linux. So you can't just go out and use any SSL/TLS certificate, you have to flash into the device either the signature of the cert you will use, or the root of trust you expect to use for the next X years.
Just look at Azure IoT Hub documentation right now:
> During a TLS handshake, IoT Hub presents RSA-keyed server certificates to connecting clients. Its' root is the Baltimore Cybertrust Root CA. Because the Baltimore root is at end-of-life, we'll be migrating to a new root called DigiCert Global G2. This change will impact all devices currently connecting to IoT Hub. To prepare for this migration and for all other details
It seems to me, that if you have these problems anyway, you might as well use Authenticated symmetric encryption - it is perfectly feasible to give each device a unique key, and you could use that until the end of days with much lesser requirements on the hardware. LoraWan uses symmetric equipment only.
Also, in the case of Fridge temperature monitoring, I don't even care if someone else can snoop on the data - I only care that the device is sending data to the real server, and not an imposter, so something like HMAC should work for that.