And design to developer handover didn't exist either when I last had to use Invision.
For rich design prototyping nothing beats Axure or Just In Mind. Figma isn't there yet when it comes to rich prototyping. It's sufficient for simple ones.
Figma doesn't produce proper HTML based prototypes like Axure or Just In Mind and good luck prototyping heavy grid and form based apps with it. Also not great for user testing where internet connection is not reliable. Axure / Just In Mind let you export your prototypes as static HTML files, so you can use them offline. Not just useful for testing, but also sales demos where internet connection is unreliable, e.g. company booth at conferences, events etc.
Framer was even better for prototyping, but they pivoted to being a website creation tool, which was a smart move actually.
EDIT: clarity regarding prototyping needs.