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age
A simple, modern and secure encryption tool (and Go library) with small explicit keys, no config options, and UNIX-style composability.
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It sounds like you could just set up all of your machines on a WireGuard VPN, each with its own private key, and all of the traffic between them would be fully encrypted without requiring any changes to your script: https://www.wireguard.com.
If you're not looking to share files but instead need a full communications protocol, the question gets more complex. TLS is the most commonly used encryption layer, and lots of other protocols use TLS to encrypt their traffic. In the rare cases where it's not suitable, the Noise Protocol Framework works to design a secure protocol for the necessary uses.
If you need signatures, minisign is a similar hard-to-misuse program.
The current program I (and many others) tend to recommend is age. It does authenticated encryption with a hard-to-misuse interface.