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I love Pritunl. Have been using it for 5 years. It's super easy to setup, maybe takes an hour the first time and like 15 minutes once you have done it.

CFA is not ZT. It is "simply" moving the auth point to the CF gateway. It's still a VPN (or bastion, if you will).

ZT is when you move [strong] authn and authz to the endpoint itself.

Not sure if you need SSO (it doesn't do it), but if you can bootstrap with a cert or key of some kind, I've been loving Zerotier.