Yeah, in my experience Bazel is painful, but I've prototyped my own build system before. There's no fundamental reason it
has to be a pain, I think Bazel just made really strange decisions and didn't pay much thought to helping people find the happy path. When I looked into it at least, the documentation seemed to assume you've used Bazel or something like it before.
Jenkins isn't a solution because it doesn't understand the dependency graph and can't help you with things like incremental rebuilds. It's just a task runner component, which a distributed build tool would probably offer out of the box.