I have found one plugin that meets all my requirements and those are
- simple
- free
- no ads
All three were satisfied with The SEO Framework. But also with this plugin I had some struggles, later I found same problems one may have with all other SEO plugins. The problem I had was that I was not able to read robots.txt nor sitemap.xml via the google search console.
In order to fix this issue I had to change permalink wordpress settings from Custom settings to e.g. post name and only then all worked as intended.