how do you handle service discovery in microservices tho

I've been thinking about how different teams handle service discovery. We used Consul before, but honestly, it felt like overkill for our needs. Now we're checking out simpler stuff, like Kubernetes' own DNS or maybe even doing discovery on the client side. What do you guys usually do, especially if you're a smaller team or working on projects that don't need a whole Kubernetes setup? What are the pros and cons you've run into?