Hi,
I use Brave browser on a daily basis, I also use dnscrypt-proxy so I have a constant/reatime log of all dns queries made.
Brave is probably one of the browsers that connects to the least number of sites in comparison to other browsers.
I also checked the URLs and IP addresses that Brave connects to when it is started and when I'm surfing but I encountered no possible shady entities whatsoever.
Also I discovered that it blocks trackers and other filth pretty good.
In my opinion it is privacy-wise a good notch above firefox.
I do not share the opinion that Brave is riddled with spyware an trackers, on the contrary. But if you want some peace of mind, try to verify the claims that the people around you make, to a reputable source or just google their claims.
b.t.w. if you want an ungoogled firefox, stripped from all telemetry, phoning home and other anti-privacy stuff, you could try 'Librewolf' (it is a normal .deb, no snap)