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I guess this is what "Identity aware proxy" from GCP can do for you? Outsource all of this to google - where you can connect your own identity servers, and then your service will only be accessed after the identity has been verified.

We have been using that instead of VPN and it has been incredibly nice and performant.

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Yeah, I suppose it's something like that. Except that my solution wouldn't rely on Google, would be open source and self-hostable. Are you aware of a similar project that does this? Would save me some time and effort. :)

There also might be similar solutions for other cloud providers or some Kubernetes-adjacent abomination, but I specifically want something generic and standalone.

https://github.com/topics/identity-aware-proxy

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