Chain skipping on upper pulley of rear derailleur

Background: I have a full suspension mountain bike with SRAM GX Eagle components. I snapped my chain recently, and replaced it with a new one of the same model. Made sure to size it the same as the previous one.

After installing the new chain, I am now getting a slight skip on the upper pulley of the rear derailleur. Bike is rideable but want to fix this before I cause more damage. It looks like the chain is not completely aligned with the pulley almost. I haven’t looked at one in detail in great working condition so hard to compare.
The teeth of the pulley are a little worn, so I’m thinking of replacing those. Not sure if I need to replace the cage as well, is it easy to tell if it’s bent? Also not sure how to check if the hanger is in good condition either.

Also additional note that might help, my chainring is also quite worn, could that have to do with it? Was not happening with the old chain, which had stretched quite a bit (don’t have exact measurements)

What should I be checking/doing and in what order? Pretty new to bike maintenance and want to learn from some experts! Thank you in advance.