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I haven’t had a chance to mess with it, but I found Authentik recently, and it might be what you need.
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SaaSHub
SaaSHub - Software Alternatives and Reviews. SaaSHub helps you find the best software and product alternatives
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There's Keycloak https://www.keycloak.org and the Ory https://www.ory.sh/ ecosystem I use rather frequently.
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I've been playing around with Zitadel at work the past couple days, so far it has done everything it says on the tin. It has a nice organization structure with user and role Authorization, works like a Saas system.
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I’m not sure if all of the above made sense, but here’s the plug-in’s GitHub page if you wanna take a look: https://github.com/sventorben/keycloak-restrict-client-auth
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.