Google is illegally monopolizing online advertising tech, judge rules

I would love to see a company compete in the ad space with the goal of making ads less intrusive. If ads didn't attack me and cause the viewport to jump and become obscured while reading, my first impression with the products would be better, and the sites the ads are on would get more viewership.

Quality ads would be at a huge premium.

The exact company you're asking for existed already, almost two decades ago. It was called Project Wonderful, and initially focused on independent blogs and webcomics.

https://en.wikipedia.org/wiki/Project_Wonderful

It never managed more than modest success and never expanded far outside its initial sphere. It shut down in 2018 because it was unable to compete with all the monopolist walled garden ad spaces.

There are various small projects that could claim to be successors to that ethos -- but (to a rounding error) no one has heard of them because, contrary to your claim, the revealed "premium" that users place on "quality ads" is dwarfed by the premium that advertisers place on aggressive attention vampires (and the latter are the ones actually paying)