I personally was heavily in the camp of "write raw queries ideally with code generation for statically typed/generated code" (as exist in Rust, Go, TypeScript, etc.), but I have since tempered my position since it does become a bit brittle and repetitive. Lately I've been playing with Jooq and it seems great.
There are tradeoffs everywhere though, so with Jooq you still aren't 1-to-1 with raw SQL, there is a bit to learn, but I consider it a worthwhile investment (and a minor one relative to an actual ORM).