Across the menu, Oklahoma Joe's for the win.
At Gates it is the burnt end on a bun. That is great, but never been a fan of much of the rest of the menu. Both places are counter service, nothing fancy.
Personally I like Jack Stack, but if it isn't your thing, plenty of other options. I found Arthur Bryants okay, but with the other options in town I wouldn't seek it out.
Is there a KC Masterpiece even open anymore? The only one I knew about was off I435 and Metcalf in Overland Park, and that shut down about a year ago.