When the makefiles are well organized, all of them have just a few lines, with a few definitions, perhaps at most ten lines, but usually less, and they include a single bigger common Makefile, with most of the definitions, all the rules and all the make targets.
So reading all the makefiles should take a negligible time, even in a big project.
I have seen too many projects with huge makefiles and with much more makefiles than necessary, but all of those are examples of misuse of make, which are easier solved by an efficient use of make, instead of by replacing make with another tool.
For instance, there are many projects with a Makefile in each directory with source files, which is a very bad choice that multiplies the number of makefiles. Makefiles should exist only in a dedicated build directory, not in source directories, except for very small projects with a handful of source files.
The best way IMO, is to have a single very small Makefile for each final file that must be built, e.g. executable file or library, in a dedicated subdirectory of the build directory. This allows for a maximum simplification of the Makefiles and their number and size is independent on the number of source directories and on the number of source files.