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When you're evaluating solutions make sure to look into Authentik too. For my small company needs it was much much easier to understand and setup and it's only gotten better and more featureful.

Authentik takes a little more to set up than KeyCloak, but the effort is well worth it when you go to configure TOTP. Authentik 2FA UX can be quite easy, similar to commercial products.

There are plenty of valid concerns around self-hosting it, but I fear for the future of our profession if things like DNS, TLS certificates and backing up a database on a schedule are now considered hard.

Dns, tls certs and data backups can be handled by something like cloudron.io (there are others too)

Edit: Elest will do it, https://elest.io/open-source/authentik