Apart from the SLS, Ariane 6, Japan's H3 Launch Vehicle, the Russian Angara's KVTK stage, the Saturn V 2nd and 3rd stages, and several others which do/did all use hydrogen.
% of kg to orbit doesn't tell you much about the complexity, especially given that SpaceX is approximately half of the global total mass to orbit all by itself… by doing things that everyone else thought were too complicated.
The fact that vehicles which were retired before I was born managed to use liquid hydrogen just fine, however, requires it to be relatively non-complex.
This doesn't necessarily mean it will win, just that you can't rule it out on that basis.
