Envoy Proxy is pretty complex. It is really designed for machine configuration. This is one reason projects like Ambassador API Gateway (https://www.getambassador.io) exist -- it translates decentralized declarative Kube config into Envoy configuration (non-trivial exercise).

That said, Envoy has some great features such as distributed tracing, a robust runtime API for dynamic configuration, gRPC load balancing, etc.

Disclosure: I work on Ambassador.