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You can use this https://github.com/digitalis-io/k3s-on-prem-production And here is a tutorial https://digitalis.io/blog/k3s-lightweight-kubernetes-made-ready-for-production-part-1/ for the the repository
It depends on what you want to do with the Kubernetes cluster. I want to run Kubeflow and everything else (GPUs and >25 nodes and load balancer) in the same way as a managed cluster from a cloud provider, then there is only one choice as far as I know: Kubespray (https://github.com/kubernetes-sigs/kubespray).
Consider Deckhouse as another option that can be installed everywhere: bare metal, private and public clouds. It has an Open Source core offered in Community Edition, but the pricing for Enterprise Edition is also a fit for small companies. All configuration is made via Custom Resources, all routines (like updating Kubernetes versions and related system components) are automated.