I have great experiences with Falcon for backend REST APIs, and it is supposed to be great in terms of requests per second.
How does it compare to Sanic?
How does it compare to Sanic?
Then keep using Falcon! OP’s core thesis is that developer comfort matters more when choosing an API framework because the performance bottleneck is usually found elsewhere. The API itself should be fast enough with some combination of Gunicorn, gevent, PyPy, and horizontal scaling.
FastAPI [1] is also worth considering if you’re looking into asynchronous API frameworks. It comes with nice features for specifying API schemas.