The simplest BOM i know of that can be made from eeschema with kicad version 5 is to use the field editor*, group as needed and then ctrl+a ctrl+c -> open any spreadsheet application -> ctrl+v
Is easy to use, powerful, does not require understanding the complex script system and does work already in v5 so i assume will also work in v6.
So maybe an option for now would be to document this option.
Regarding the scripts available: I have to preface that i did not use the kicad inbuild ones as i personally always used this one KiCad BOM Wizard Plugin with customisable output (Can make HTML and CSV BOM) (It just makes a nicer looking BOM than anything available in kicad)
However if i had to choose one of kicads options then i would say the python scripts that create csv are what i would use. Most useful to me would be the one wich groups by value and footprint.
*) This is from memory as i don’t have access to kicad right now. So the name of the tool i used could be different. It was the tool where one can edit all fields of the schematic in a nice spreadsheet like view.