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Self-hosted Drupal is an open source, community run project, that is free as in beer. A lot of headless CMS are SaaS products, it seems. Apples and oranges.

Is there a good resource listing/comparing the headless CMS options that are equally open and free as Drupal?

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To my knowledge, only Strapi CMS is comparatively free/open source headless CMS, in that it can be self-hosted and is not strictly SaaS. There's also a community of plugins, which also seem to be free/open source. Curious to hear of any others, as like you said, most are "freemium" SaaS products.

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