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Rundeck
Enable Self-Service Operations: Give specific users access to your existing tools, services, and scripts
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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.
Never used it myself (we're currently working on deploying Tower) but I've heard that Rundeck is the goto for your exact use case: "Tower, but less heavy". I looked at it when evaluating for my current job and it looks like a good middle of the road solution and looks way easier to deploy than AWX. The tradeoff is that since it's not custom built for Ansible you can automate lots of other things with it (like just bash scripts and the like) but you get less of the Ansible-specific integrations and tooling that Tower offers.
Someone posted this recently. I bookmarked it but haven't had a chance to look into yet. https://ansible-semaphore.com/