Not picking the worst of examples, are you? 
X-com 2’s procedural map I find mostly great. Though, I would think that there is may be another layer to it, with regards to:
Because, their wilderness (partly open maps) are also pretty good (mostly). I wonder if there would not have to be a change in some ‘parameters’ when drawing/instructing the build of an ‘enclosed/interior’, ‘city’ or ‘wilderness’ map. Sounds that, from a level design perspective, these are quite different.
To summarize, I don’t think that (just) the AI can do it all. It’s gonna still require a level of effort to create assets and inputs for each. But the AI should be able to draw you this ‘randomness’ and smooth integration at least around the textures/terrain (and also for placing objects around camp/spawning areas). At least, that’s what I imagine. Never did anything alike before… 