You’re probably wrong to think that people are misusing the words. The differences aren’t as you describe. Very roughly, “jealous” can be used in the place of “envious” and often would be. Jealous has an additional meaning, which usually has to do with relationships.
I am jealous of his success.
I am envious of his success.
I envy his success.
I get jealous whenever my wife has lunch with Jim. (Can’t use “envy”)