Is there anything similar ("central point of SSH access/keys management" ) that is not Cloudflare ? I know about Tailscale and it's SSH but recently it introduc

Is there anything similar ("central point of SSH access/keys management" ) that is not Cloudflare ? I know about Tailscale and it's SSH but recently it introduced so much latency (even tho they say it's P2P between A and B) that is unusable. Ideally something self hosted but not hard requirement