Hi Kirill,
As you said already, JN5169 is more mature, but not with ARM Cortex M core. This may affect you for your toolchain, SW development environment.
KW21/41 is with M0+ and MCUXpresso IDE which has a version under linux.
Note that KW41 has both BLE + Zigbee/802.15.4. If you need a zigbee gateway design, it might be helpful.
Alternatively there is a JN5189 on the way. The chip can be searched on nxp.com. But I don't see yet datesheet, tech doc etc. Don't know when they will release them. JN5189 is with the Cortex M series core.
JN5189HN Product Information|NXP
So at the end it is up to you to choose the part based on the project. The power consumption / price etc. are also important factors if you are making big volumes.
Regards,
Xiang