The question to ask yourself is what kind of story are you shooting for? What kind of feel does it have? What drives your story? Who might your audience be? Why does it need to break with the formula you described above to make it work?
I can think of novels, even in a genre that is often accused of being as formulaic as SFF, that have unhappy endings, for instance. Killing off major characters, even protagonists, or messing them up so badly they might as well be dead, is pretty trademark in the subgenre known as Grimdark, for instance, as are "evil" protagonists.
But you don't have to go that far to find novels that break molds in most genres. There are some genres where a happy, or emotionally satisfying at least, ending is expected and needed. Romance is one, where the couple should be alive and optimistically together at the end. And with mysteries, one needs to know who the killer is by the end. But not all genres require rigid formulas. Stories with bittersweet, or even sad, endings are common.
And as others have pointed out, literary fiction (and a lot of what is considered upmarket, and genre fiction with literary elements) is all about departing from conventional story structures and characterization.
One question I have is why you are asking this question. If you've been reading novels since 1963, you are older than I am and you've surely answered this question repeatedly over the years. Are you asking whether novels must be formulaic to succeed specifically in today's markets? Or are you asking this because you've been in an argument with someone about this issue and are looking for confirmation of your own viewpoint? Or are you looking for validation for an idea you have for a story without being more specific and disclosing what you actually want to do that departs from the formula you outlined above (and why you think doing so could be challenging in this particular case)? Or are you looking for confirmation that writing stories that some deride as formulaic is okay also?
Of course, just because something can be done (and has been done) doesn't mean it should be done in every case, or in your particular case.