Another competitor you might be interested in is teleport. You can self host but it’s a bit convoluted to get to the documentation so I posted a how to at the very bottom of this replay. It’s very easy to setup and is free as in beer as long as you don’t connect to any of their cloud stuff.

https://goteleport.com/how-it-works/

https://github.com/gravitational/teleport/blob/master/docker/README.md