zrok is a similar capability (though it can potentially do a lot more). OpenZiti is definitely a more complex project. In fact, zrok was built on top of OpenZiti.

We did this as Ziti provides a platform to develop secure by default, distributed applications quicker, which is why zrok has been built by only 1 developer across about 18 months and is almost feature parity with Ngrok (which has been developed by many people for almost 10 years).

No they does what you already did and not really complex to setup.

I worked on a minimal self-hosted ziti for Docker here https://github.com/openziti/ziti/tree/release-next/quickstar... and minimal self-hosted zrok (includes ziti) for Docker here https://docs.zrok.io/docs/guides/self-hosting/docker/

...so, basically:

wget https://get.openziti.io/dock/all-in-one/compose.yml docker compose up