I'm a big fan of mutual TLS, which I just do in nginx reverse proxy.
Client certs get installed on trusted devices and then it's mostly seamless.
Not every app will support it, but I use Firefox as a fallback for stuff that doesn't, or my VPN.
TBH, I'm just happy homeassistant supports it as that's the one thing I'd rather be as seamless as possible.
Other things I don't mind having to connect a VPN for, like jellyfin, which I don't currently share with others.
For nextcloud I'm currently not running mTLS as it wasn't supported back then and I had to share some links with some people where I wouldn't deal with certs. I think mTLS support has been merged since, so if you just use it for devices under your control, or might be viable
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