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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.
There is nothing wrong with creating another RTOS. There are way more options that FreeRTOS and Zephyr. So code away and share your results. But realize there is no "market" for RTOSs as the commercial products like VxWorks are expensive and targeted at a very niche market. Here is a link to the OS I wrote and maintain https://github.com/MannyPeterson/HeliOS. Good luck!
You can check out the YouTube videos [about building your own minimal RTOS](https://www.youtube.com/playlist?list=PLPW8O6W-1chyrd_Msnn4LD6LBs2slJITs). This minimal RTOS (called MiROS) is used as a teaching aid. The project is also available on GitHub.