Symfony 4 I think is good choice now, it's getting simple and faster, thanks to PHP 7.x as well.
I have old legacy PHP web that use no framework, but after I using Symfony, I try create my own framework by using some key components from Symfony, what is that? The Twig templating system and the routing component, plus composer ready, the rest code is my own PHP way, even still use mysqli_* functions hahah. Search on GitHub called Brutal PHP Framework but it still work in progress but maybe you can get the idea.
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