There have been lots of compatibility improvements with Mastodon from our side. However Mastodon seems to have almost no interest to make improvements from their side. I dont think there is much we can do about that, in the end project maintainers always care about their own users most.
With dansup there was some communication years ago, but it seems he lost interest in Lemmy.
There are such efforts on SocialHub and on a W3C mailing list. However devs of major Fediverse projects are rarely active there, because they are all busy working on their own software.