I use 2 computers without a KVM. My keyboard, mouse, and soundbar all support Bluetooth. All wired to the PC by default. When I switch to the Mac, I just flip each device to Bluetooth mode.

Yep, similar - I just use a wired USB hub that can toggle between two outputs.

I just have the monitors auto-switch on (lack of) input when I put one machine to sleep. The single click buttons on the monitor also switch.