I’m agnostic about Kafka but ZooKeeper is problematic for many use cases based on personal experience and I wouldn’t recommend it. It can be “rock solid” and still not very good. I’ve seen ZK replaced with alternatives at a few different organizations now because it didn’t work well in practice, and what it was replaced with worked much better in every case.
ZooKeeper works, sort of, but I wouldn’t call it “good” in some objective sense.