OpenBSD libtls is a really simplified TLS API with sane defaults and convenient handling of extensions like SNI and ALPN. Nice and somewhat long overview can be found in https://github.com/bob-beck/libtls/blob/master/TUTORIAL.md . There is also a nice presentation https://www.openbsd.org/papers/linuxconfau2017-libtls/

It's in C but this also means there it is easy to make bindings in other languages like Rust: https://docs.rs/libtls/0.0.1/libtls/