My go-to backup solution, that can also manage rsync over ssh (among plenty other things), is synbak[0]. Short wrapper script to automatically mount the backup medium and it's really simple to (automatically) run a backup job. I use encrypted (LUKS) USB drives for that at home. Highly recommend it.
For encrypted backups to e.g. a NAS, Duplicity[1] is my go-to choice (full backup every month or so, with incremental backup every day inbetween).