You can't really do better than stripe. The onboarding overhead is because of fraud and the costs are basically barely above interchange.
Stripe needs all that byzantine fraud prevention, on top of what they had a decade ago, because they are a huge concentrated target.
A smaller firm could be way simpler. Because they simply wouldnt have enough money to provide a decent payday for dozens of malicious geniuses going at them 24/7/365.
Sure, though not every small project needs to worry about that. Perhaps the payment workflow is a tight loop that has KYC through physical memberships (ID + Photo), say a gym membership for example, and the entire system is private just needs a gateway to do transactions.