In my experience, OAuth works great. Standard libraries Just Work, login Just Works, all you need is a URL (usually standardised) and maybe the configuration the service is expecting (i.e. the names of the permissions you're asking the user for). Usually, that's nothing special to set up. In some cases, particularly with huge "fuck you we're big enough to be the standard" vendors, there are some stupid hardcoded values and workarounds you need to deal with because they couldn't be bothered to use a library or document their flawed implementation.
I've set up a Keycloak server and authentication against it is super easy to set up. Copy-paste a domain, two generated tokens, and maybe a URL if .well-known discovery isn't implemented by the client, and that's it. Things can be easy, companies providing "OAuth" support just choose to make your life hard.
It's fully specified. It's well implemented - you'd have to go out of your way to find an authorization server that doesn't do everything above, with the exception of dynamic client registration, because that's not intended for clients but rather for integration with developer portals and similar. Google Auth and Amazon Cognito don't support dynamic registration for third parties, eg, because if you're doing dynamic registration it'll be because you're operating your own AS - Okta, Auth0, and Keycloak all support it.
There's also plenty of good generic OAuth client libraries. Spring Security, the oauth2 crate for Rust, etc.