Upgrades have been an absolute nightmare and so disruptive. The scalability improvements in airflow 2 were a boon for our runtimes since before we would often have 5-15 minutes of overhead between task scheduling, but man it was a bear of an upgrade. We've since tried multiple times to upgrade past the 2.0 release and hit issues every time, so we are just done with it. We'll stay at 2.0 until we eventually move off airflow altogether.
I stood up a prefect deployment for a hackathon and I found that it solved a ton of the issues with airflow (sane deployment options, not the insane file-based polling that airflow does). We looked into it ~1 year ago or so, I haven't heard a lot about it lately, I wonder if anyone has had success with it at scale.