Restic is the winner. It talks directly to many backends, is a static binary (so you can drop the executable in operating systems which don’t allow package installation like a NAS OS) and has a clean CLI.
Kopia is a bit newer and less tested.
All three have a lot of commands to work with repositories. Each one of them is much better than closed source proprietary backup software that I have dealt with, like Synology hyperbackup nonsense.
If you want a better solution, the next level is ZFS.