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ansible
Discontinued cr.imson.co homelab collection of ansible playbooks for automation. (by cr-imson-co)
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raspberry-pi-ansible
Set of Ansible roles to automate the initial setup I usually do on my Raspberry Pi's
This isn't exactly what you asked for, but in my experimentation with prebaking images, I've had success with using this docker image to run scripts that had to be run from pis themselves without actually needing physical pis.
As someone already said, Ansible is exactly what you need. I uploaded on my GitHub just yesterday a set of Ansible roles that I use to make the initial setup on my Raspberry Pi's, it's pretty basic but it might help you: https://github.com/Nicuz/raspberry-pi-ansible Check out all the roles, you could use this repo as a boilerplate to make your own playbook since it includes all the basic thing you probably need :)