I think its a fart to say there is no place in games for procedural generation, but I will also concede that the type of generation you are describing here is very time consuming to build. You've got the right idea with modules and what not.
A simple approach, which is re-usable for 3D, would be to place one module, and then have a function go a single room at a time randomly choosing another module next to the first that has matching connections. WFC is an algorithm that is used to match connections, but you can make up whatever logic you want for this, and it could be as simple as saying module with north door flag must be next to module with south door flag. Then you could have a set of modules that are "end walls" and when the max distance from the original module is reached you choose from only dead end rooms to cap off the space. Those older games you mention are doing this in 2D, but in each 2D array position they are placing a 3D room model. For some newer games, you can see that Alien Isolation is doing this with a 3D array, and The Bunker(by Frictional Games) is doing the same thing but with a 2D array.
When I built a procedural voxel thing, I built it on a single 2D layer first so that the logic was easier to work out, and then just switched all my arrays to 3D multidimensional/nested arrays and expanded the logic to additionally check from up and down directions. Like start simply by making a 2D generator and then layer your 2D generator on top of itself like a cake.
As for the off-size tile issue you mention in your last post, its good to keep in mind that the placement of your premade rooms does not actually have to correspond to the first array. The array you are generating can tell you what modules are next to each other but does not have to refer to global positions, that can be its own logic. This is hard to explain, here is a video with a variety of resources that might get you thinking about that.
Unrelated, Deep Rock Galactic devs posted a really cool dev log where they do procedural work here. They spawn a bunch of pre-made rooms in a sphere, and then they draw a line between connections and generate a cylinder shape around the line to be a hallway. Then they apply noise patterns to blend the meshes together into caves. Neat
Anyway this is a hole that you can fall down forever.