I haven't tried it but have been looking into the same problem. This is probably the best bet (does require an Azure account though): https://github.com/Azure/trusted-signing-action
...and you need to have a corporation?
I thought corporations were pseudo-humans. Turns out it may be the other way around.
Import HSM-protected keys to Key Vault (BYOK) https://learn.microsoft.com/en-us/azure/key-vault/keys/hsm-p...
I guess that allows you to get your own cert (example: from DigiKey) for your own HSM (example: YubiKey) and then upload it.
That's what we researched before we abandonded the approach and kept code-signing by manually downloading the build, signing on a specific machine where only one architect had access. What could ever go wrong?