I think you're identifying some of the right problems here. All voice assistants are based on turn-taking, and when the VoiceAI hits one of those failure points and just comes back with "I didn't get that" it leaves the user in a frustrating state trying to debug what's wrong.
I work at SoundHound where we've been worried about these issues. (I'm going to plug our recent work...) Our new approach is to do natural language understanding in real-time instead of at the utterance (turn) taking level. That way we can give the user constant feedback in real-time. In the case of a screen that means the user sees right away that they are understood, and if not, a better hint of what went wrong. For example a likely mistake is an ASR mistranscription for a word or two.
We still need to prove this is a better paradigm for VoiceAI in products that people can try for themselves, and are working towards that goal. I hope that voice interfaces that were clunky with turn-taking will finally be more naturally usable with real-time NLU.