We moved from claudiajs to SLS (and then from yaml to TypeScript) and now to CDK and SST.
I like the CDK/SST approach because, to me as a developer, it's more intuitive to write actual TypeScript code to create the building blocks of the infrastructure than it is with YAML.
It allows for a whole lot more intelligence in the provisioning process and I personally think it's a lot more readable.
Add in the live lambda debugging which helps with proper integration testing using AWS infrastructure means you find out about permissions problems, misconfigurations etc far far earlier in the development cycle
When we used SLS we ran a lot with serverless-offline which is great but it doesn't expose the issues of connectivity, permissions etc that running inside of AWS does.