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Keycloak is decent. It has its own built in user database, or it can connect to an “upstream” idp like AD, GitHub, google, fb, basically anything that speaks openid or SAML. Then, it can act as an idp to each service you run. It is a bit of a chore to configure, but compared to other SSO servers it’s pretty good (looking at you shibboleth)
After about a year of using Keycloak for some #dayjob side projects, I literally just stood it up in my homelab.
It does have a learning curve, but it supports OIDC and SAML - those two should get most internal services covered.
Back end can federate with AD or LDAP - for the real stinkers who refuse to support SSO. (Looking at you Netbox)
Lol, our main initiative at work right now is migrating our on prem auth to keycloak.