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I've used FastAPI/Pydantic before as well and it was a very good experience. It has been a while since I used them though, so I forget exactly how they compare, but I do recall it wrote most of the OpenAPI spec. for you. I will also agree when I saw utoipa and aide they seemed to require more boilerplate even though I have not done an actual comparison. Poem, on the other hand, seems very neat and clean and doesn't have any duplication that I can see. Here is the [TODO example](https://github.com/poem-web/poem/blob/master/examples/openapi/todos/src/main.rs).
This is what I made for my personal hobby projects https://github.com/chronicl/ts-rpc It does exactly what you are looking for: generate a typescript client function for each route that you defined in rust with support for axum. It works pretty well in its current state already, but there is no documentation except one example. I'll eventually clean it up and release it properly.