I'm also using KiCad for personal projects and small prototypes at work. Version 5 with a proper 3D export and interactive routing mode is definitely good enough for me. I find it much easier to use than Eagle and I don't really feel the need for Altium (for relatively low complexity things, but I don't do latest gen SoCs).

What really helps for hand assembly is interactive BOM viewer plugin: https://openscopeproject.org/InteractiveHtmlBomDemo/