I mean seems like keycloack or iams in general are a more robust move for us developers to deliver better apps
Oh. Absolutely. If you aren't really, really well versed in auth mechnisms, standards and processes, doing it all on your own will be very hard. IAM providers are really well versed in these things, so you can count on them getting IAM right. Still, it boils down to your needs. If you only need auth for your own app, you just need a registration, a login and a session storage process, which isn't that hard to do.
If you need to offer federation of users across apps or you know you need SSO, then you need a whole slew of new processes, like OAuth and OIDC affords (they call them flows). This can get very tricky very fast and IAM providers take care of the server end of the IAM processes. You still have to use the flows to lock down your apps and services and that in turn is even more complicated than what you'd need to know for just putting up an auth wall in your app.
So again, it depends on what you need.
If it is just learning you are after, then for sure, trying to get an IAM like Keycloak running and using it properly will offer you tons of learning matter (and frustration 😛 ). I've gone down that rabbit hole and I'm still to this day uncertain about how to use all of Keycloak's features. It's very powerful software.
As for using a service like Auth0, you avoid the "how to run the software" learning curve. The rest is still valid.