WPA2 is secure enough if you use strong passphrases.
There was some security flaw discovered in the Wi-Fi standard itself, not WPA2. If your router has firmware upgrades from the last couple of years, use those and you should be fine. Newer technologies are always slightly better, but WPA2 itself is secure enough, and WPA3 is still not available for all wireless clients so you'd likely still have to fallback to WPA2.
The only notable exception is some larger businesses, where they have to worry about passphrase leaking and using different ones per client.
There are some vulnerabilities being discovered over the years not only in wireless standards, but also in operating systems, software being used, etc. Routers typically run some type of linux, busybox, curl, web server (lighthttpd), etc. and any one of those may have some security flaws discovered over time, typically addressed by firmware upgrades.
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