Is there any sort of 'single node' version of these frameworks? I'm very interested in building event-driven solutions, but I don't need the scale offered by kakfa/pulsar, and I really don't want all the complexity. Is there any reason nobody has made a smaller, less distributed event-centric DB?
However, the complexity you refer to is essential in a reliable messaging framework. Use of zookeeper or any log consensus algorithm requires multiple nodes ( 3 or more) to achieve durability and high availability goal. It is out of necessity. This is actually essential complexity.
There is another messaging framework called Nats.io. It is not persistent so architecturally relatively simpler. You might want to investigate.