I'm looking for a suitable framework for building medium-sized* Node.js APIs and I want to know what you are using or would recommend.

Ideally, it should:

* automatically build RESTful routes based on models (incl. relations), if not, make it easy for the developer to implement that

* use MVC concepts like controllers, filters and such

* support simple authorization/authentication (i.e. acl, bearer)

* be flexible/customizable (e.g. don't force me to use Whatever_Case on my database tables and such)

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Currently, I'm using the following, hacked together: express.js, bookshelf.js/knex.js (models), passport.js and acl (auth). These are fine if your project is small, but when it grows, it gets messy.

So, what frameworks are you using?

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*by medium-sized, I mean something like an invoice creating API