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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.
Welcome back.
It's still the best choice in the Ruby world, well maintained, responsive and new features added. Shopify and github use it, you might want to look at the Rails 6 annoucements what these companies added for scalability features. There've been changes to the asset pipeline since version 3 but you'll still recognize it. You can run Rails as API-only and there's subprojects/tutorials for combining a frontend-heavy React,Vue with a Rails backend. You can still ignore the webpack based asset setup unless you use React,Vue I think. Ruby-3 works fine though I'm still waiting for some less-maintained gems to finally merge PRs, maybe you want to use Ruby-2.7 first.
I use https://puma.io/ , that scales well enough for me. https://github.com/socketry/falcon#readme is faster with build-in HTTP/2 support but harder to setup in my opinion, e.g. requires SSL certificate even on localhost.