There is a gem that implements lightweight threads[0], and there is an HTTP/2 server that seems to abstract things out[1]. Your point probably still holds in the context of ruby + async + http/2; but then it's not http/2 fault, but rather ruby for not having a better concurrency story, like say golang.
[0]: https://github.com/socketry/async
[1]: https://github.com/socketry/falcon