I recommend actually reading the CRA[1] the requirements for non-critical software are easy to follow. If your product does not fall into the categories described in Annex III you are making non-critical software.

The requirements are described in Annex IV, V and VI. You must do a conformity assessment and provide a declaration of conformity. For non-critical software you can do the assessment yourself see the first five points in Annex VI. The only thing that maybe requires a bit of effort is that you must write some technical documentation including a cybersecurity risk assessment. For critical software the process is more involved because it requires certification by a "notified body".

If a startup in the EU fails because they have to write a bit of documentation once in a while they deserve to fail. Also if a startup wants to create security relevant software I expect that they follow some security standard and the CRA makes sure of that. None of these requirements are something only a billion dollar company can do.

[1] https://eur-lex.europa.eu/legal-content/EN/TXT/HTML/?uri=CEL...