In the past I used PyKube (https://pykube.readthedocs.io/en/latest/readme.html), which did the job. One issue that pykube has is that there is no autocomplete on API object fields. Does kr8s wire this up? Seems you could use a TypedDict on newer versions of Python.
Back in the old days you wouldn't get autocomplete on k8s YAML files either, but now the schema is well-known and so your IDE will complete all the fields (even CRDs). These days you get this with Pulumi, if I'm not mistaken.