What is RRCSetupComplete in 5G NR?

It is the uplink RRC message that confirms successful RRC connection establishment and carries the UE's initial NAS message toward the network.

What NAS message is usually inside RRCSetupComplete?

Common examples are Registration Request and Service Request, depending on why the UE initiated the connection.

Does RRCSetupComplete use SRB0 or SRB1?

RRCSetupComplete is sent on SRB1 using DCCH and RLC AM, unlike RRCSetupRequest which is sent on SRB0 and CCCH.

What comes after RRCSetupComplete?

The network typically forwards the NAS message toward the AMF and continues with procedures such as Initial UE Message, Downlink NAS Transport, and Security Mode Command.