I hate to say it, but you will never see the FFXI version of SMN here in FFXIV for several reasons.

One, and this is the original reason why SMN in FFXIV has never been able to summon 'full size' summons is because in the game's lore that's the domain of Primal summoning which is, of course, a major plot point about being a very bad thing. FFXIV SMN's lore gets around that by being an Allagan-developed work-around that only summons a mock-up, cut-down version of of the 'real thing' in the form of an 'egi' or 'demi' with none of the mind-warping, soul-searing corruption. This is different to FFXI's SMN where you were literally summoning the actual summons who were literal gods in FFXI's storyline that the SMN made a literal pact with to do so.

The other reason SMN here in FFXIV will never be like FFXI is simple pragmatisim. Yoshi does not like pet-style Jobs, and the problems faced with ACN/SMN/SCH are proof they're outright trying to get away from pet classes of any form (hence why you will never see the likes of BST here in FFXIV either).

That's not to say SMN won't be refined and improvements added (along with ACN and SCH), but the unfortunate truth of the situation is that it will never become the same as FFXI's SMN (or something like Yuna from FFX). That is just being realistic.