Teleport is the easiest, most secure way to access all your infrastructure servers, clusters, and applications. It is designed to provide role-based access control, audit logs, and session recording, making it ideal for organizations that need to provide secure access to their resources.

For a long time I have been using PfSense for my infra at home also to secure the virtual machines on my dedicated servers, also for small infra like schools, SMEs, hotels etc ...
I turned to OPNSense for the simplicity of the interface and above all more update and security patches compared to PfSense Community edition. I'm not saying PfSense has become a firewall to avoid, plan to buy the official hardware for better support and patching.