I thought nest was somewhat straight forward, minus the use of the angular module system, but I spent years using Java/Spring. That said, nest didn't have a component scan so you have to manually specify services per module.

Having spent more time using typescript and picked up functional programming similar to Haskell (via fp-ts), I wouldn't touch nest despite its popularity.

MarbleJS looks interesting. But I'd also be inclined to use express with supporting libraries.