To be honest, this car never really had a successor. The Countach was the market successor, but not really the spiritual one. It was extremely limited in production and handmade for only a few collectors. It was also faster than the original Countach. It could, in some cases, even hang with later Countaches and earlier Diablos.
Even cars like the Murcielago and Aventador don't really match the same charisma as the Miura. If anything, barring all the special editions, it would be the Revuelto that's truly its successor. Even that car isn't so rare. I wouldn't be surprised if the Revuelto was made in even smaller numbers than the Aventador.