If you don't know what's wrong with make, just use make. But it probably means you probably don't USE make.
If your Makefiles look like this:
build:
go build -o dist/app
You might as well just use make, it's fine. It's less fine when you want to avoid rebuilding if sources didn't change, or if you want to use environment variables, maybe from a dotenv file, or if you want to do conditions (like adding a debug flag to a build command if a make variable is set), or if you need to use make incantations (hoping they'll work with both BSD Make and GNU Make), then a Taskfile might help solving some issues, including legibility.
I don't use make, so I wanted to see what was wrong with it, and the author's argument is that it's old. Not very convincing.
Your description starts to be more interesting, and I feel like mk (the successor of make from the Plan 9 people: https://plan9.io/sys/doc/mk.html) might address those, but again, I don't have a need for it.
If your Makefiles look like this:
You might as well just use make, it's fine. It's less fine when you want to avoid rebuilding if sources didn't change, or if you want to use environment variables, maybe from a dotenv file, or if you want to do conditions (like adding a debug flag to a build command if a make variable is set), or if you need to use make incantations (hoping they'll work with both BSD Make and GNU Make), then a Taskfile might help solving some issues, including legibility.