If you're used to AVR, the AVR-Dx would seem the next logical step. Peripherals are different from both MEGA and XMEGA so there's some getting used to. I would rate them comparable or more powerful than XMEGA, largely because of the peripherals which are more configurable than ever (thanks to even more event sources/sinks plus CCL). Last I checked, they were moderately available, though I'm sure the exact supply varies (i.e., 100s available here or there across the family). Maybe they're all unusually short at the moment, I don't know.
RP2040 is certainly not a SAMD21... but if you're doing mostly CPU functions, it might not matter. Point in case, it's all about the peripherals, everyone and their uncle makes ARM chips but it's what they hang off them that makes all the difference.
Tim