This is the price you have to pay for a (secure) decentralised system, but syncthing tries to help where it can.
In general, Resilio Sync's 'key per folder' model seems to work better. I can give a key to other people and they can join the swarm without extra work on either sides. Also, it has a logical extension to encrypted-only peers: they get a derived key that can be used to sync in the swarm, but cannot decrypt the data.
If there was a stable open source program using Resilio Sync's sharing model, I would switch in a heartbeat. (There is Librevault, but it still seems to be mostly in development.)