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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.
I personnaly use cassava which should have everything you need (even though it can be quite obscure some times). I also know about Frames which might reduce some boiler plate at the price of a step up in complexity (disclaimer I've never use it, but it's author is a serious guy so I'm sure this package as some benefits).
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.