From a purely research/development and production standpoint, the G/K 43 series is impressive. It had operating and manufacturing problems yes, but it would have been further refined over time. The Germans were presented with the semi-auto problem, and they responded in relatively short order with a viable platform that could be reliably mass produced.
I'd argue that the development process was kind of a tire fire. The semi-auto problem wasn't something that was news when the war broke out. Plenty of countries had been developing semi-auto weapons before then, and both the US and the USSR were fielding them in large numbers. The Belgians were almost to market with what would become the FN49 after the war, and the French were already prototyping the MAS38/39 that would eventually also become the post-war MAS49. The Germans were just way, way behind the 8 ball when it came to starting development of a militarily viable semi-auto long arm.
And then, once the war made it clear that one was needed, they stuck by the idiotic requirement that the barrel not be drilled for a gas port. Yes, the Garand also started life operating on the Bang principle, but conversion to the gas system we all know and love today was already started in 1940. This is something that the Germans would have certainly been aware of. What's more, the AVT-38 and SVT-40 are right there even earlier as examples of a gun that used a normal gas port.
And then, rather than just go with a design, they essentially put two prototypes into limited production and combat trials - the Gew41(m) which actually followed all of the OTHER idiotic design specs (including the crazy stuff about falling back to bolt-action use similar to a 98k if the gas system fails) and the Gew41(w) who threw most of that garbage out but stuck with the gas shroud.
And then, after all that and tons of evidence that soldiers in the field loved captured SVT-40s, the final evolution is to. . . just graft the SVT-40s gas system onto a Gew41(w), add a detachable mag, and call it a day. Don't get me wrong, adopting good mechanical fixes for a problem you have is laudable even if you're borrowing from the enemy. The Jerry Can is called that for a reason, after all. But that's a call they could have made years earlier.
If the Germans had been serious about developing a semi-auto rifle they could have done so any time after they officially tossed Versailles overboard. Even if we assume it would take the war to make them REALLY understand that the 98k needed a semi-auto companion the design process that was mandated by the HWaA's idiocy in 1940 still delayed the ultimate product by at least two years. There is no reason that they couldn't have fielded something akin to the G43 when they began producing the two flavors of G41.
And this is without even touching the problems endemic to the entire Nazi system that led to production delays, like Speer and Himmler constantly sparring with each other over what amount to territorial disputes.
You see the same thing in a lot of other German weapons development during this era. The StG44's design process was a similar trainwreck and there's no good reason they couldn't have had something largely approximating what they did produce in the field in 1942 or 43 at the latest. Same story for the FG42 - flawed weapon though it was - it became this weird Luftwaffe-only thing largely because of in-fighting between Goering's RLM and the HWaA, and as a result had much more limited resources assigned to it. Which, to be honest, might have ultimately been for the best, but in that case the real question is why any resources were devoted to it at all (the answer is Goering's ego).