I did, in fact, initially write PicoMQ with OpenRaft, similar to Ursala, but I really wanted the operational complexity to be minimal and the nodes to be stateless (at least for most use cases), Pico uses SQL database as a metadata command log, inspired by RisingWave.
But Ursala would, without a doubt, have better durability ACK latency, as it wouldn’t have to wait for an ACK from S3. That said, I do plan on extending disk/EBS-staged WAL to hit similar low-latency durability ACK numbers. But again, most use cases don’t need single-digit-millisecond latency for ACKs.