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If you use Vertico and Icomplete for a while you will notice that Vertico handles some details better. But more importantly, Vertico is flexible and configurable thanks to its extensions. The basic vertico.el is intentionally minimal and has been designed with flexibility in mind. I use vertico-multiform-mode which allows me to configure Vertico differently for different commands. For example the vertico-unobtrusive-mode display mode is a good fit for M-x, since it removes any kind of unnecessary noise. For consult-grep I use vertico-buffer-mode, which displays the candidates in a separate larger window to get a better look at all the matches. You can take a look at /u/karthink's video about the extensions and the corresponding reddit discussion. The Vertico README also dedicates a section to the extensions and in particular to vertico-multiform-mode.
Note that I contribute to Emacs core itself from time to time but the process is discussion-heavy and thus time consuming. If you are familiar with the completing-read API, you may know the annotation-function of completion tables. The name already tells that this function just adds annotations to the completion candidates. The Marginalia package (written by /u/oantolin and me) provides such annotations. A similar function is the group-function, which groups candidates in subsets and adds titles above the subsets. I wrote the patch which added this feature to Emacs. It is now supported by default completion, Icomplete, Vertico and maybe other UIs. The initial implementation was done in the earlier Selectrum package, and a little later in Vertico.