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LeafPHP is nice. Modular and easy to work with.
My APIs are in Slim. It's super light and you have all you need: routes and middlewares.
There's a note right in project page:
As I haven't seen it mentioned yet, I can reccommend Laminas Mezzio . It's quite small, bigger than slim though (I think). It basically only handles your HTTP Lifecycle and provides a service container. Everything else you can do on your own.
Give https://cakephp.org/ a try. It also is one of the oldest ones out there, so quite mature and stable while being rather lightweight. Serving JSON API seems like a good fit.