I've done that, and I've done Kubernetes, and Kubernetes is definitely easier once you get past the initial setup. The initial setup is also getting easier over time.
It is also more portable. Kubernetes runs on multiple cloud providers as well as your own hardware and presents the same interface and runs the same containers. Docker containers are more portable than AMIs.
If you plan to write your own system to control deployments, secrets, load balancing, and DNS based on AMIs and other AWS features, you may want to consider that you are reinventing the wheel. You are also locking yourself into AWS to a far greater extent than you would if you used Kubernetes.
Expertise is also a big differentiator. You can hire people who know Kubernetes on day one, but you cannot hire people who already know your custom in-house system.
The reason everybody's so hot on microservices to begin with is that we kept coupling everything all together and it became a huge mess to manage. You don't want to repeat that mistake, only at cloud scale.
Building an AMI on Amazon is not difficult and if you use it you don't have to reinvent so much architecture on top of AWS (or cloud provider of your choice)