What are current best practices for configuring replicated PG with hot failover?

To be clear, what I want is: - The ability to deploy a cluster of say, 5 replicated PostgreSQL instances - All write transactions go to a single leader, which replicates them to the other instances - Reads can go to any instance - If a leader crashes the cluster will elect a new one without human intervention, and no committed transactions will be lost.

I've always been unclear on how to do this with Postgres.