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WorkOS
The modern identity platform for B2B SaaS. The APIs are flexible and easy-to-use, supporting authentication, user identity, and complex enterprise features like SSO and SCIM provisioning.
IQM is a super simple one, doesn't have everything you listed but it's easy to get working
I am developing a new 3D system written in Common Lisp: https://github.com/kaveh808/kons-9
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