My games do not play like structured D&D at all. Most of the game time is spent exploring and roleplaying. Combat happens, but when it does most of the time the fights are desperate and deplete the parties resources quickly. This is happening less as they raise in levels, after a year and a half they are now at 6th level in a very heavily modified SKT. My players spend hours talking in character, and they keep coming back to the next session. I still do not like listening to critical roll.
Not that my game proves anything either way, but heavy roleplay in a game might not be so uncommon after all.
There's a difference between roleplaying dramatic scenes with NPCs - investigating the slaying of the high cleric, convincing the gnoll chief to aid your assault on her rival, bartering with a sea captain to take you to the Isle of the the Flayed Men - and banter between PCs. There's a lot of roleplay in Critical Role that has nothing do with adventure or achieving goals. It's just improvised character development, often with a comedic angle.
I stand by my wager that few D&D tables see the players spend substantial time engaged in comedic in-character banter between one another that has nothing to do with adventure. And as I remarked, I think one of the big draws of Critical Role is to give people who are alone or lonely the proxy glow of a group of extroverted friends chatting and bantering.