Of all the things I'd like to see changed in an upcoming world, the end of a flat underground would be one of them. The underground should be full of multi-level chasms, rolling floors, cliffs, pools, and more.
Floors should rarely be even, though they should be levelable with enough time and a pickaxe. While all other aspects of the underground would remain effectively unchanged this would be a vast improvement over its current state.
The one complication I see comes with mining and digging in this newly rolling underground, but that complication could likely be solved by incorporating what would be, in essence, underground terraforming.
Have ore and stone veins appear not at just different x/y areas, but different z levels within that mine "level" as well. It would certainly make prospecting for ore and such more dynamic and involved, and make the underground truly interesting.