When I was looking to buy an action camera last year, I was deciding between Insta360 and DJI, with many YouTubers suggesting outright against GoPro since they haven't kept up with image quality.
Action cameras sound like a tough business, since most of them are built to last ages, and they need to keep the vast majority of content creators happy trying to increase image quality in a small form factor.
Anyway, I bought the Insta360 Go Ultra I had my mind on from the start, which I'm still reasonably happy with.
Having owned a number of GoPros, I made the same switch last year.
The Insta360 has super annoying/intrusive software that always feels like it's trying to sell me something, but it's pretty excellent in terms of actual video quality.