Some third-party software pretends to restore this functionality, but they do it by repositioning the mouse to simulate a hover, which introduces a delay and doesn't integrate correctly with the animation. Someone wrote a patch that works by disabling SIP and injecting code (https://github.com/briankendall/forceFullDesktopBar), but eventually stopped maintaining it.
A decade later, I doubt anyone at Apple remembers that this bit of user interface used to be good.