I tried to set up Keycloak but after fiddling with it for awhile before giving up and trying something else. It felt really weird that I was just extracting a tar and running a jar instead of some pre-packaged solution, but that might just be me.
authentik was pretty easy to set up for my homelab, but maybe I'm missing something given all the positive recommendations for Keycloak?
I also checked out some other options along the way, and ultimately realized that pretty much all of the options come with enterprise-oriented features that are just added complexity for the self-hosting use case.
Ultimately, I've gotten at least somewhat familiar with all the complexities of Authentik, so I'd have a hard time switching off. Would definitely love to see a solution geared towards selfhosting that's more barebones, though.
I did not really try authentik yet since all the advanced features I needed worked with Keycloak, but I do have it running in a container to play with at some point in time.