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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.
Since you mentioned Sinatra and Rails I assume you're talking about web apps. In that case you want to build a Rack Application. That's where web frameworks' responsibility ends.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.