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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.
You could look into OwnTracks. Not sure if it'll fit your use case fully, but it does allow multiple clients / devices to be listed.
In order to work you need a server with static public IPv4 address, an Internet domain. As software, I use www.traccar.org
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.