The Kafka clients no longer require zookeeper but the Kafka servers do need it to operate.
You can get a list of topics with the new AdminClient API but the shell command that ship with Kafka have not yet been rewritten to use this new API.
The other way to use Kafka without Zookeeper is to use a SaaS Kafka-as-a-Service provider such as Confluent Cloud so you don’t see or operate the Kafka brokers (and the required backend Zookeeper ensemble).
For example on Confluent Cloud you would just use the following zookeeper free CLI command:
ccloud topic list