Believe it or not, the Jalpa almost got a direct replacement the moment it went out of production. The 1988 P140 would have given Lamborghini a second model line, and was meant to be more affordable and usable than the Diablo, which was under development at the time. Sadly, the collapse of the supercar market put paid to the project after just two working prototypes had been built. Its engine would also be used in the Cala (which was described earlier in this thread), but again, there wasn’t enough funding to put that concept into production either. Ultimately, a true replacement for the Jalpa would not arrive until 2003 - well after Audi had taken over the company. That car would be named the Gallardo, and it would ultimately remain in production for 10 years.
It’s easy to see why the P140 could have been the Gallardo of its day - stunning to look at, very fast and agile in the corners. As it was, it stands as an example of what might have been had circumstances not intervened.