I think I’ll wade in. As succinctly as possible:
The idea emerged in TKD practice that kicks are so awesome that they should be the main focus of your efforts in a fight (which has repeatedly been demonstrted to be totally untrue) and the rule set was designed to reflect this idea, rewarding kicks, particularly high kicks, and little else.
As a sport it’s particular demands for point scoring could well be argued to provide a demanding and watchable challenge, but many martial artists cringe at how kicky-punchy combat ends up being “represented” at Olympic level by this not particularly practical art.
TKD medallers are still exceptionally springy, stretchy, fast-reactioned, fit, the best at winning in their rules, and will have worked very damn hard to be.