IAM is just complex. I can't think of any implementation of "users, groups, roles, policies, identity providers, oidc" that is truly simple.
I'm reminded of a guy I worked with, who fought against Kubernetes adoption because it was "too complex", only to slowly reinvent Kubernetes badly, adhoc, out of vault, consul, systemd, nomad, iscsi, ansible, jenkins, puppet, bash, spit, glue... making lots of mistakes along the way. You think you don't need to implement some feature until you do.
Another thing I'll say about AWS (having been the sole infra guy at a few startups) is that it's well within most people's abilities to learn it. And you can usually avoid the shitty stuff. You think lambdas stuck? Don't use them! You could use EKS, ECS or bare EC2.