I'm not a fan of Helm either though, templat-ed yaml sucks, you still have the "indent 4" insanity too. Kustomize is nice when things are simple, but once your app is complex Kustomize is worse than Helm IMO. Try to deploy an app that has a ING, with a TLS cert and external-DNS with Kustomize for multiple environments; you have to patch the resources 3 times instead of just have 1 variable you and use in 3 places.
Helm is popular, Terraform is popular so they both are talked a lot, but IMO there is a tool that is yet to become popular that will replace both of these tools.