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I used to use duplicity but recently switched over to borg. Not having to do full backups is nice, I can mount any backup at any time and delete intermediate backups in any order.

While a large part of my backup system currently consists of manually mirroring pictures to various solid state media (that occasionally are moved to separate fire zones) - and a good helping of prayer/good luck - the part which is set up uses duplicity driven by backupninja (from Debian repos - upstream is): https://0xacab.org/riseuplabs/backupninja

It was complicated to set up separate signing and encryption keys such that the server sending backups could not decrypt (assuming the symmetric session key wasn't somehow kept around). But once setup the only worry was making sure the backup server didn't run out of space.

Try duply (http://duply.net). It's a nicer frontend for duplicity that makes it very usable at last.