It is not binaural audio that you want, what you want is proper convolution reverb that takes environmental features into account, by using wave tracing and first order reflections. Which is what Aureal did back in the late 90's, which is still the best audio system to date. but it is computationally expensive, which is why you don't see it running on software audio stacks.
Now TrueAudio Next does the above, not the first True Audio, but the version that came with Polaris and now Vega. it uses some of the CU's to perform first order reflections and convolution reverb, taking environmental features and materials into account.
AMD were bigging up TrueAudio next for VR, but even in non VR it makes a massive difference to immersion. Audio has been one of the most under developed parts of gaming for the past fifteen years to the point where it is no better than audio we had back in the early 90's.