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Unfortunately I don't have a specific answer but I've was thinking of doing something similar - I've since changed my approach but this is what I was thinking.
There are a number of these kinds of things for Kubernetes (Keel.sh, et al) but nothing that I could find for plain docker.
One idea I had was to use something like https://github.com/adnanh/webhook and ping a webhook from the Github action. Yes it'd be publicly accessible, but using an HMAC header signed by a github secret would probably mitigate much of the risk. The webhook would do the pull and restart (via a shell script).
I also spent some time playing with waypoint (from Hashicorp) and think it has potential, but of course is a bit different. They do have a docker image 'builder' and I think the webhook could be built into the server side to do the pull on new image.
fwiw, I am looking at moving my app to fly.io
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