We rearchitected. At one workplace, we built and distributed our own service. At another, we shifted to semi-automated more static lists of servers for roles; those servers were much less dynamic.

There are exceptions but most of the time replacing an off the shelf std. solution with something self made looks like NIH syndrome to me.

The exceptions are the few cases where you know you will forever only need some strict set of features and your own solution can provide them by way more simple means than the in comparison "fat" off the shelf solution.

I'm not sure service discovery in a cluster is one of those cases.

etcd

Never heard that someone moved form Consul to etcd. It's always the other way around.