The Swagger/OpenAPI spec format is its own special little hell. Just enough "user friendly" features to make it difficult to parse, yet still complicated enough that it's a pain to write.
I thought I was the only one! As far as I can tell the sentiment regarding Swagger/OpenAPI is generally positive, but I am starting to think that's just because it's an improvement over the status quo of "nothing" for most people.
I personally prefer API Blueprint, but even there is room for improvement.
I prefer RAML tbh - using Markdown as the basis of an API specification language is a pretty terrible idea. RAML's syntax is much more structured and pleasant, and the type syntax is far nicer to write than JSON Schema. Alas it seems to have lost the battle of network effects...
I would assume most people would use an extension to generate swagger off their endpoints on demand. Thats what I do in ASP.NET, via a library called Swashbuckle: Swagger and Swagger UI in three lines of code.
What does the complexity matter? Either way you're running some service description file through some build tooling to generate some human unfriendly code. Who cares how big or complex the code in the middle is?
Because in most cases that I have experienced, no, you are not running the sdl through a generator to create a client. You are instead instantiating a http client, setting the right headers, urls, package bodies etc, all by hand. Something which is done in lieu of using a code generator because its trivial with an HTTP web service.
Furthermore, with an http api and depending on your security model, you can test/inspect a good portion of your APIs directly with a browser - a zero-cost client for all http apis that you get for free.
I have never felt the need to write swagger by hand, despite publishing a few API's in it. I always generate them directly from the domain code/function arguments.
It might be a benefit of statically typed languages though. I have no idea how you would automatically generate swagger from Javascript, without adding so much annotations that they become a poor man's types.