D&D 5e is kind of bad system. It's "good" in that it's hard to make a bad character, and it's popular, but that's most of what it has going for it. It's missing a lot of rules you'd want for a general purpose RPG. Centering it on rests only works in rather specific kinds of games. The magic system is very bespoke and thus clunky. The dice math if 1d20+stuff gives you a flat probability, which is often unsatisfying.

Pathfinder 2e is widely considered better than 5e in every way, unless you actually specifically want the simple+shallowness of 5e. Which is a fine thing to want, but that is a pretty big trade off. If you were just playing with friends, you'd probably be better off with Fate or maybe a PbtA game if you want simple narrative stuff, or Gloomhaven if you just want a board game.