I too am eagerly waiting for a good serverless nodejs framework that is "batteries included". I've deployed on Lambda using the "Serverless Framework" but once your app grows to a certain size everything starts to fall apart and you lose some of the magic. Unfortunately, most of the things that advertise themselves as serverless/lambda/worker nodejs frameworks are monoliths and/or an existing monolith framework that "supports" lambda (with a billion asterisks after that). There is absolutely nothing wrong with monolith frameworks, I love them, but just not for lambda, I want to deploy a single endpoint as a single function (or as a cron, or queue listener, etc), not all of my code for every function (you hit size limits quick with this method).
I want express/nestjs/etc-type routes that I define with code or annotations that result in /only/ that function (endpoint) being bundled up and deployed. I ended up rolling my own "framework" on top of Serverless Framework (uses serverless.ts config file that scans my directories for a special file that defines the routes defined in that directory) but Serverless Framework is pretty shaky ground. Their documentation is a mess, Serverless Components appears dead, and they seem to be busy with their own "cloud" so I don't know how much longer I can keep building on top of them.
When it works it's like magic but there are a ton of walls you run headfirst into: Cloud formation entity limits, package size limits, typescript/bundling support, clear disregard for medium/large projects ("Just use multiple services", this leads to a terrible dev experience), and long deploy times.
I wish CF Workers had been out when I first started building my current project, I might have gone in that direction instead, I still might.