About the only thing that has really changed is a small weight reduction with some models, and the ability to quick detach from a picatinney rail. The bulk of a bipod and mechanics of shooting from one remain unchanged.
...and 45 degree leg adjustments, interchangeable feet including spike feet/claws, leg extensions including ones long enough to take a prone bipod to a sitting/kneeling bipod on some models, panning, sliding Arca Swiss rail quick attachments, adjustable leg width, no noisy external springs that pinch you... yeah, not much has really changed.
That said, I still mostly use Harris bipods for PRS because they are faster to deploy and I seem to shoot more accurately with them. Carry 3 in my pack (6" - 9", 9" - 13", and 13" - 27") and swap them around as needed for stages. Even with the stud connection I can swap them pretty quickly.
For hunting I mostly use an Atlas PSR tall model with the 7" - 13" adjustment range and carry a couple sets of leg extensions. If hunting in taller grass or brush, I'll preemptively install leg extensions rather than waiting until a shot opportunity to do so. The added adjustability of the Atlas and its quieter operation make it a better choice for hunting IMO. A few years ago I made a ~750 yard shot on an elk from a steep side hill. The downhill bipod leg was fully extended with extensions added; the uphill leg was fully retracted, canted back 45 degrees, with extensions removed. The position was rock solid and was really the only position available for the shot.
Only cost and finances have kept me from switching to some of the newer models with more leg adjustability and longer extensions.