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The CSR cleaner is one of the more straightforward controllers you will find in k8s source.
The most low-level approach I have seen is using the client-go package. Both kubebuilder and controller-runtime are based on this package. You can see an official example here: https://github.com/kubernetes/sample-controller/blob/master/docs/controller-client-go.md But even that sample requires some code generation on top of it https://cloud.redhat.com/blog/kubernetes-deep-dive-code-generation-customresources
Codegen is not magic, but if you want to make it simple stupid, supportable and prod-usable I'd go for metacontroller. There's not much magic to it - just common admission/validation webhooks propagated to your controller implementation, alongside the simplest possible reconciliation cycle. We had adopted Knative driven metacontrollers and it's a pretty solid approach.
Zalando's had been archived since 2020, and Nolar's one has some bugs (I mean a lot).They're mostly updating deps and bumping k8s support, instead of fixing actual pending issues - you have to fix anything and everything on your own ...