GSAP[1] is pretty much the industry standard, I think. You have to pay for some of its more advanced features.
There's also Anime.js[2] and Scene.js[3] - but I've never played with them so can't vouch for their usefulness. Both have had code updates in the past year.
(Self-promotion time) I had a lot of fun adding an animation/tween system to my canvas library[4] a while back. Building out the code to run such animations is one thing; making it performant is a very different challenge![5]
There's also Anime.js[2] and Scene.js[3] - but I've never played with them so can't vouch for their usefulness. Both have had code updates in the past year.
(Self-promotion time) I had a lot of fun adding an animation/tween system to my canvas library[4] a while back. Building out the code to run such animations is one thing; making it performant is a very different challenge![5]
[1] https://gsap.com/
[2] https://github.com/juliangarnier/anime/
[3] https://github.com/daybrush/scenejs
[4] https://github.com/KaliedaRik/Scrawl-canvas
[5] SC tween stress test - https://scrawl-v8.rikweb.org.uk/demo/canvas-006.html