But, has DnD ever done anything to adequately address any sort of martial arts (wrestling included) that actually works well?
Not that I know of but I wish they would. I would like to make a true martial artist PC.
I'll accept that I have to flavor my attacks because otherwise there are too many possibilities. So my "Hit" can be anything from a drop-over arm bar with a cross-finger lock to an inside prayer wrist lock.
But when it comes down to figuring out if I am moving someone and who can attack whom and make what AoOs and so on, it's a lost cause.