AWK scripts don't have any kind of dependency management features, so they naturally lend themselves toward being freestanding and self-contained. Perl, on the other hand, has a massive package ecosystem with transitive dependencies and widely varied quality and design aesthetic, amplified by the baroque design of the language. AWK is as close as a language can be to immune to dependency hell.
When Perl was new, perhaps many people saw it as "a better AWK", but I suspect most of the newcomers to AWK today don't see it in relation to Perl at all.
I remember learning most of Awk from a long, single web page that appeared to come from one of the official authors.