I want to preface this by saying I am in no ways saying these models are bad. I absolutely love them and your work. This is just how I tried to bring back the depth from the old models that was lost with the transition to curved limbs.

First, I took the old worker drone model (I have an edited version for OCs but it's the same for others) and isolated the cap on either end as well as one of the segments, further separating them into three objects (I later deleted the two caps and only used the regular segment)

I cleared the parents, then copy and pasted them into a project with the new model (I'm using Doll for this example) and also applied the rotation. For now, I have them in the "Body" collection for visibility. Then I took the curve arm and made it thinner while enabling "Stretch" for the Curve Deform.

After that, I added an Array modifier with a relative offset of 1 on the x axis, then set the count to 13 and moved it along the x axis to line up with the shoulder.

Next, I added the Curve modifier and selected the arm curve.

Because of the earlier enabling of "Stretch" I had to then resize the segment along the X axis and move it a bit until it looked about right.

The end result, in my opinion, at least, looks pretty good, and keeps the deformity of the curves while adding proper depth. Here's a comparison of the curve on the left and the modeled on the right.

Then for organization, I parented the segment to the curve itself and moved it into the "Everything Else" collection.

Unfortunately I haven't been able to get this working correctly with the legs, as they seem to move out of place when posed, but the general concept is there, and I think it could be worth looking into.