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Synchi - Two-way file sync
(jakobkreft.github.io)
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Syncthing was made for this and has been around for almost a decade now.
I used Syncthing for years, it's great (if you use it and you are happy, then you dont need to switch), but they are quite different. Syncthing requires daemons on all devices and can't sync two local folders on the same machine. Synchi is on-demand, runs only on one side, and doesn't care where the two root folders are.
I wrote a more detailed comparison here: https://jakobkreft.github.io/synchi/why.html