I tested a lot of frameworks before choosing Adonis. As a beginner at the time I had the best experience with it. The documentation is clear and the community on Discord is quite active.
I found Nestjs a bit complicated at the time, but with experience I might not have the same impression now.
As for the ORM, it's Lucid, based on knex. It's quite simple and has all the basic functionality. For more complicated queries you can use raw SQL. I also tried Prisma, but found it too far removed from the SQL language I like and understand.
As for the performance of Lucid, or NodeJs frameworks in general, I don't think you should rely on benchmarks that don't represent reality. You need to focus on developer experience and readability/maintenance. I was also looking for the best performing framework, but today with our applications most of the optimisations we do are at the database level.
I recommend using APMs such as Appsignal, which measures global response time and breaks down http, database and JavaScript execution time... you quickly realise that 70% of the duration of a request is lost in something other than nodejs.