What autopilot board to use nowadays?

Good day everyone,

I have an old 3D Robotics Pixhawk with Compass/GPS Module, Power Board and a Quadcopter Kit that I put together a while back.

I was thinking it is time to upgrade but I was wondering what is the best option nowadays, I see some new out of the box drones have obstacle avoidance capabilities. Is there a DIY drone that I can put together that has those features or should I just buy an out of the box solution. I love building, so don't get me wrong here but man I love the DJI Inspire 2, it is beautiful and flies great too. What motors would you recommend as well? The ones I have now are some cheapo ones/no brand from amazon.

Thanks 

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