Summary: domestication takes time, but tons of useful varieties already exist and aren't being used. We should increase the diversity within a field, rather than using monocultures.
There are some widely eaten crops that have been recently domesticated (strawberries and macadamia nuts began being domesticated in the 1800s); but many staple crops (wheat, barley, rice, potatoes, beans, corn) began being domesticated about 10,000 years ago. Humans have spent 10,000 years making these plants into better foods and better crops and there is so much more involved than just increased yield. (Most staples are grains so I'll focus on them for the moment)
You do want increased yield--from both larger seeds and more seeds per head. You want the seeds on a head to ripen simultaneously; and all the plants in the field to ripen at the same time and be the same height. You want the seeds to stay together with the plant, rather than self disperse. But you also want to the chaff (inedible covering on the seeds) to be relatively easy to remove.
A lot of desirable domesticated traits have trade offs or even directly contradict each other. For example you want the seed to be less bitter, but the bitterness is caused by defensive chemicals and you also want the plant to be resistant to pests.
I work at a organization that is doing research and plant breeding to create perennial grains (which have a number of environmental benefits I won't go into here).
We (and numerous collaborators) have been working to domesticate perennial intermediate wheatgrass (a wild relative of wheat) since 2008 and have made huge progress! "Kernza" has reached the point where it is grown commercial (at small scale) and sold to small businesses and the public. It is doing great but it is still a work in progress and has about 1/3 the yield as domestic wheat.
Domesticating new plants is cool and important (I have to say that because it's my job, but I also mean it), but it is also hard and takes time. But trying to make one spectacular variety isn't a good solution either. I believe that the easiest to implement solution is to increase the genetic diversity within a field.
Diversity in a field, by having both intercropping (planting multiple species in the same field) and multiple varieties of the same species makes for a much more resilient plant population. Monocultures are extremely susceptible to diseases, pests, and weather events. But if you plant a diverse group of plants the individual that are susceptible to a particular disease or pest are isolated and the pest is unable to spread throughout and kill the entire field. Additionally some varieties are more resistant to drought, cold, flooding, etc so even if you have bad weather some of the crop will survive.
The downside to this strategy is that it takes more labor. In countries that practice high-labor, low-mechanization subsistence farming having diverse crops and intercropping is a common practice. But in the US only about 2% of the population are farmers, so low-labor monocropping systems are much more common.
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