Wasn't aware of NixOS, looks pretty interesting but I'm not sure about how easy / reliable it'd be to run it on a Pi 5 (https://wiki.nixos.org/wiki/NixOS_on_ARM/Raspberry_Pi_5). I'll be keeping an eye on it though!
As far as Helm vs Ansible, I'm using Ansible to deploy the basics (bootstrap control plane & worker nodes, networks plugin) and then everything is deployed with IaC (Pulumi) which installs Helm releases.