I had the exact same feeling. Then I read Rendezvous with Rama and I saw what science fiction "should" be like, not "futuristic fantasy".

To add something to the discussion, I think that the "traditional fantasy" worlds are gaining some mainstream and joining other common "worlds" that got there before, like "science fiction", vampires, zombies and the like. This means that people already have a reasonable prior knowledge of the world and know what to expect (missing only some minor variations). That means less time spent in exposition and more time on interesting themes.
I think that cyberpunk is still a bit "non-standardized" but could go next.

And now I am wondering if anyone has seen elves, dwarfs, hobbits and humans in a space ship going off to fight vampires and zombies.

Warhammer 40k? Never heard of it...

Who!? <Reads Wikipedia> Oh, yes, before 2017. It is quite a good read. Some may find it boring with scientific discussions about gravity and trajectories and regretting constrains about speed limits. But to me, it was a believable universe where I could feel the tension since I believed that the conundrum could not be dismissed by simply waving a sonic screwdriver — thinks like that always make me feel cheated. For this reason I could invest emotionally in the story and I felt satisfied.

I know about space marines and orcs. Some genestealer? Something about chaos invading this universe? Is there more to it?