In honesty we've not gone forwards that much since the Transmetal and fuzor era - look at the beasts we've gotten recently and the only one with decent articulation is Ravage (and he doesn't even have a bot mode!)

Other recent beasts are Grimlock (classics and animated), Snarl and Swoop (animated), Snarl/Darkwolf (or whatever his name was, Cybertron), and Skorponok haven't been that articulated at all.