Has semantic HTML design helped you

is there a case study or some real proof that Use of html elements like

<article>
<aside>
<details>
<figcaption>
<figure>
<footer>
<header>
<main>
<mark>
<nav>
<section>
<summary>
<time>

instead of <div> benefits a website.

Google has a "never trust" policy. Similarly to Schema for featured snippets. Still as you may have observed with minor schema settings (like FAQ, Reviews...) aside, nav, footer and header could be omega useful to give Google "hits" of what you want to focus for rank (keyword wise) and what shouldn't.

Anything that is a "good practice" is a green light but considering that there are other ways of "tagging the content" (not only the tags themselves, but some tag properties for div, we must assume that this is only a good practice, but won't boost it all the way

There was a keynote regarding this topic: https://www.searchenginejournal.com/centerpiece-annotation/424152/