Under FreeBSD my real "servers" were physical machines - which were started maybe two times a year (after a kernel security issue was patched).
They were loading the kernel modules, mounted the ZFS, getty,were running rsyslog and ntpd. That's it. How complex does your init system has to be?
Inside were jails - they simply started usually _one_ service. There is no need for any more complexity.
For the record,, SysV is not a Linux invention. I never liked it that much but..
FreeBSD has /etc/rc.d scripts, they get enabled by <script_enable> in /etc/rc.conf, and rcorder is ordering them according to dependencies at startup time.
For servers actually hard to beat, I think.
Nobody says you cannot _replace_ it with something else when you feel the need - all what you need is changing /etc/rc. It's a shell script, after all.
Regards
Peter