Actually, this is not the case. We had INI format for simple stuff and XML (protected with entire schema) for complex things many years ago, which worked. Yet, we wanted something readable (like INI), but able to express complex types (XML).
I don't think Toml is a viable replacement - for me, it has an INI-level of simplicity with even worst hacks to have nested structures. But, give it time and you'll have another YAML.
But yes, YAML is confusing for edge cases (true/false, quoting), but I'm going to find a powerful replacement that is not XML. Maybe EDN can jump in, but for anything more complex, I'd rather have a Lisp interpreter and structures around than any of mentioned and upcoming formats.
Thinking that JSON is a suitable replacement, imagine writing Ansible or k8s stuff in it; that would be fun ;)