I think its a matter of taste when it comes to how easy each program is to use. Im not an expert on Daz, but as you, I myself have found the UI in Daz a bit confusing and harder to get your head around compared to Poser. However not saying that Poser is therefore better or that Daz cant achieve what you are looking for. But will share what I think.

As you have already stated yourself in the first post, Poser have a pretty decent sketch and toon functionality, which are very easy to use and serves a good base for retouching.

I personally haven't done a lot of animation in either program, but from what I have tried I find both a bit lacking in features.

Poser also comes with a build in dynamic cloth room and Bullet system which will allow you to do clothing and varies other dynamic effect. I think you would have to buy that separately with Daz (not 100% sure)

As Redphantom said you can use other figures in Poser and its highly advised to do so. The current most popular figures in that regards are Victoria 4 and Michael 4, but new ones are coming.

I think both programs support GoZ which will allow you to import figures into Zbrush, so you can make pretty much any model from a base model, such as V4 or M4.

My best advice if you haven't seen it already, is to spend an hour watching this movie, which is someone doing more or less exactly what you want to do and explaining how to do it in Poser. I think it will both show and give you ideas of workflow on how to make 3d comics, storyboards. Which models to use and so forth.

Poser Webinar: Using Poser 3D Software to Create the Ground-Breaking Graphic Novel Anomaly