I've been using PyInfra for a while, albeit just for simple automation (Updating systems, checking certain stats) and I'm a big fan. Compared to Ansible, I found the docs, syntax and usage patterns much easier to get on with. Might just be a preference thing, but I always had trouble going through the Ansible docs.
Ran into some bugs, like one machine that seems to cause errors and mess up the output on restart, although that looks like it might have been addressed in this release.
If it helps, I put together a video when initially exploring PyInfra: https://www.youtube.com/watch?v=S-_0RiFnKEs