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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.
You could even do a JTAG dongle yourself. For example, the dirt cheap STM32-based Blue Pill in combination with the Versaloon Firmware does exactly that. Combine it with the SVF route, and you have a very cheap alternative.
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.