The format of the .deb package itself is also pretty simple and straightforward.
But historically and probably now even almost all packages were nothing like this.
When you need to target particular shared libs as dependencies and link against them, confirming that via build isolation, etc - which is what the vast majority of packages have to do - then all the other complex tools become a necessity.
https://manpage.me/index.cgi?apropos=0&q=dpkg-deb&sektion=0&...
https://manpage.me/index.cgi?apropos=0&q=deb-control&sektion...
It also turns out that the only thing we did want to do was copy files onto the filesystem - early on we had some more complex bits like pre and post install scripts, and they got us into a horrible mess via not being written sufficiently defensively and apt giving you basically no safety rail and being very unhelpful at getting you out of a bad situation. After that we banned anything that wasn't just "put files on system".