I enjoyed my Motorola devices in the past. Possibly a good amount of rose tinted glasses, but the 2014 Moto X was probably my favorite Android phone out of the box so far. They usually don't modify too much of the base Android experience and the few things they tend to add, such as the camera app and some gesture support, seem to work better than the AOSP stuff. I didn't like NFC support had been pushed to only their higher end devices, as I really enjoy tap to pay from my phone and other NFC features.
The last two devices I've owned have been Pixel devices. They've been pretty solid. I still think I liked the 4a over the 6a; I've had some touch accuracy/sensitivity oddities with the 6a.
I own a Motorola and I've had a very good experience (other than the fact that it's got Google in the OS, like all Androids, and the time I upgraded to Android 12 and decided I hated it).
The last two devices I've owned have been Pixel devices. They've been pretty solid. I still think I liked the 4a over the 6a; I've had some touch accuracy/sensitivity oddities with the 6a.