I've never seen an auto-generated set of release notes I liked, a list of PRs doesn't cut it.
1. Release notes should never be created mechanically but focus on the consumer of the release.
2. The best changelog is your git. It is OK to generate a calcified changelog for an audience that prefers that.
Last and least:
3. The commit messages are a private space where developers communicate. The messages should never end up at the customer without thorough filtering and distillation.
Apart from that: git-cliff is excellent. If you must generate a document from commits, use that.