And despite it having left the everyday vernacular of your average computer user, its solidly embedded in many other protocols (and frequently tends to be the "working" part) because like TCP, AT command sets, etc tends to actually be pretty good following 20+ years of "bug" fixes. Even the glorious NVMe (which initially just looked like the merging of a hba+scsi) just embraced SES in its entirely.
So, when you say USB, I reach for my SCSI manuals.. :)
Yep, and other protocols that borrowed the SCSI command set are still busy reimplementing inferior versions of tagged command queuing. The semantics that SCSI already had in 1994 when I started working with them weren't perfect, but that only makes it even more amazing that protocols have mostly gone backwards in the 27 years since. Many people seem to enjoy standing on the toes of giants.
So, when you say USB, I reach for my SCSI manuals.. :)