I think without COVID, 2021 would have been the year for 3rd party RF support to hit full swing. Really, before last year the EOS R and RP were kind of middling, and canon appeared to be still fully committed to the DSLR with the release of a new flagship 1DXIII. The R5 and R6 then hit, and became the two top selling cameras. With now lots of traction on this mount, the 3rd party guys will be hot to get in on the sales. They see both the need and the profit margin - with canon's prices so high they can price higher but still be less than Canon, and get more profit per lens since those likely share at least some R&D cost with versions for other mounts.
The Sigma guy interview - I wouldn't read too much in to it. If the company is really fully committed to their current product line, and has an R&D pipeline full of new lenses for it, then they will be dinosaurs soon. They have to see the writing on the wall for the DSLR line, and if they really are committed to continuing to produce camera lenses 'as long as possible' then they will have RF mount lenses as part of that future. I read what he says as typical corporate speak. They aren't ready to talk about what they are going to release because they aren't ready to produce it, and they don't want to tip off the competition and get beat to market.
But this is obviously just my take, I don't have any inside info.
-Brian