For making PDFs, I’ve recently moved from AsciiDoc to Typst. I couldn’t find a good way to get AsciiDoc to make accessible PDFs, and I found myself struggling to control the output. Typst solves all of AsciiDoc’s problems for me.
But in the end, no markup language will make you write better. It’s kind of like saying that ballpoint pens are limiting your writing, so you should switch to mechanical pencils.