I work on a tool in this space called TypeSpec (aka.ms/typespec) that aims to address some of the authoring concerns folks have with OpenAPI. We're a language that feels a lot like TypeScript, with support for high-level features you might be used to in a more typical PL, but compiles to high quality OpenAPI 3.0 you can feed into your existing code/docs generation pipeline. You can see this in action on our playground: https://cadlplayground.z22.web.core.windows.net. We also support protobuf and (once my PR gets merged) JSON Schema targets.
We're not yet to beta (obviously, no website even) but we're hoping to get there relatively soon. Happy to hear any thoughts, especially from folks using OpenAPI.