Their incentive is to make money, not serve you relevant ads.
If a geeky movie studio pays X to show an ad to people of your profile, while a car manufacturer pays X*2, Google is better off showing you the car, even if they are internally 100% sure you'd buy the movie instead.
Even if they pay per impression, pricing is ultimately driven by clicks.
Even if you pay-per-view of an ad, a company selling tampons will not pay as much for 1 thousand views of their ads on a youtube channel for construction workers, as on a youtube channel for girl's fashion. Because the former drives no clicks/revenue, and the latter does.
So yes relevance is extremely relevant to make money.
If a geeky movie studio pays X to show an ad to people of your profile, while a car manufacturer pays X*2, Google is better off showing you the car, even if they are internally 100% sure you'd buy the movie instead.