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It's possible that you have broccoli rabe. From your description, that's my guess. I've never eater nor grown any, but am familiar with the plant. It is very possible that somewhere in the packaging of seed, broccoli rabe seed got into the romanesco packet by mistake. (It happens more often than you'd think!) Broccoli rabe is bitter, and doesn't make heads. It's definitely not a tight, neat head like broccoli or romanesco. If it's turning yellow (like old broccoli would), it's probably bolting. This article might help: https://www.gardeningknowhow.com/edible/vegetables/broccoli-rabe/broccoli-rabe.htm

Most cole plants perform better in cool weather. If you are growing from seed, consider having the plants ready to get into the bed 8-10 weeks before last average frost date for your zone for a spring crop. For a fall crop, try to plant 8-12 weeks before first average frost date. It seems that Romanesque is unreliable in forming heads at times. The reason has yet to be discovered. Since this plant is more closely related to cauliflower than broccoli, I suggest adding some lime, either at transplant, or as a side dressing.
Hopefully, this article will help:
https://www.gardeningknowhow.com/edible/vegetables/broccoli/growing-romanesco-broccoli.htm

Broccoli is well known to reseed itself, although the resultant heads may be small, or few, or not taste good. Of course, they may also taste even better than the parent plant. I would expect romanesco to act similarly. This article has more information on this fascinating vegetable: https://www.gardeningknowhow.com/edible/vegetables/broccoli/growing-romanesco-broccoli.htm

Have you been fertilizing? It sounds as if there is too much nitrogen in the soil, which promotes lush, healthy growth but without enough phosphorus to balance it out, you will get little to no heads. You can try to offset the nitrogen by adding some phosphorus rich fertilizer or bone meal to the soil.
Here is more information on Romanesco care: https://www.gardeningknowhow.com/edible/vegetables/broccoli/growing-romanesco-broccoli.htm

It may be to warm for your plants to form heads.
They are considered a cool weather crop.
Here is a link with more information.

https://www.gardeningknowhow.com/edible/vegetables/broccoli/growing-romanesco-broccoli.htm

It is quite late in the growing season and your garden is most likely nearing it's end.
This certainly was a trying year in your garden. Gardening is usually different each year. Try to just learn from this years successes and misses and plan for next year.
You may want to do some amending to the clay soil to help with water drainage and overall soil conditions for next year.
Here are some links for you with more information.

https://www.gardeningknowhow.com/edible/vegetables/broccoli/how-to-grow-broccoli.htm
https://www.gardeningknowhow.com/edible/vegetables/cabbage/growing-cabbage.htm
https://www.gardeningknowhow.com/garden-how-to/soil-fertilizers/how-to-improve-clay-soil.htm