Earlier quoted context omitted.
I just watched a couple of his videos, and it sounds like he got pretty close to landing with solid propellant ('echo'), but ultimately decided that it was too finicky and ended that project to move onto a liquid biprop rocket.
Are liquid engines still in the realm of hobbyists? The estes engines he's using are pretty widely used and understood to be fairly safe, is there something equivalent for liquid rockets?
No. Lighter fluid can be a reasonable fuel, but the oxidizer is the issue. Either you use liquid oxygen (very cold, explosive, generally dangerous) or something nasty like nitric acid or MMH that will eat your flesh for lunch.
Given the altitudes involved, I would suggest that small jet/turbine engines meant for model aircraft would be more useful. They wouldn't need oxidizer.