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I used ScreenlyOSE Anthias + BalenaCloud on about 7 Pi devices to manage a small-scale DSS rollout. BalenaCloud allowed fleet-wide updates, etc. and a rudimentary VPN tunnel to connect to each Pi. It might scale to 4,000, but you'll spend a lot of time babysitting that.
Anyway you can use meshcentral for this purpose.
I use to use SuperPutty Documentation to do work on our Solaris boxes, when I WFH.
considering the edit, I would suggest some sort of ingress as a service, assign each unit an ID, and use something like ngrok https://ngrok.com/ to provide some connectivity and route to an ID. Direct interface the devices from there.
now some things you need to think about: - cloud init - this will need to be secure so lock it down hard anything not needed an alternative OS to look at if you have the ability's is https://www.alpinelinux.org/ also as these devices are not that powerfull every extra agent / abstaction layer you add impacts performance need to look at low over head security https://www.crowdsec.net/ and https://github.com/fail2ban/fail2ban (if you call fail2ban security) - using certificates to authenticate ssh login
Monitoring = netdata on each RPi https://www.netdata.cloud/ binded to the vpn interface being scraped into a prometeus thaons https://thanos.io/ setup with grafana to give management the Green all is good screens (very important).
Monitoring = netdata on each RPi https://www.netdata.cloud/ binded to the vpn interface being scraped into a prometeus thaons https://thanos.io/ setup with grafana to give management the Green all is good screens (very important).
RPi OS = diet pi https://dietpi.com/ - initial config via text file - SDcard burning out partially mitigated as writes log files to ram then flushes to SDcard reducing write cycles
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