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A place to share alternatives to popular online services that can be self-hosted without giving up privacy or locking you into a service you don't control.
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OpenVAS is a vulnerability scanner that appears to be open source.
Metasploit is another that I think is free and might be open source.
OpenVAS is a vulnerability scanner. Metasploit is a penetration testing framework.
First one does what OP wants. Second one less so, and is more hands on.
See dirbuster for automated dumb searching of web directories, gives you response codes to tell you if a page is accessible to the outside world. See nuclei which I haven't used myself but seems to get good reviews for automated vuln scanning from the command line - has nice output and seems simple to use.
They're both easy to use and install on something like Kali Linux.