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I like Keycloak. It is very configurable, easy to set up, has lots of available examples of configs out there, and has been the most stable for me of any I've tried.
I only wish it had mock-LDAP so I could use it with things that don't do OIDC like OpnSense. Keycloak can use an LDAP server as a source and sync with it, but I don't want want to run a separate LDAP server for one or two systems. They're too much trouble to setup and manage.
KanIDM is probably the simplest auth server that does both OIDC and LDAP in one app. Although Kanidm's LDAP is read only.
I think I tried that one when I was evaluating a few. I really like that Keycloak makes it really easy to configure custom workflows inside the web UI. I have custom user/group permissions flows and some other more complex logic for assigning specific permissions for specific apps built into workflows over the years. So I definitely don't want to switch, but yeah, I'd like a read-only LDAP system that just generates LDAP responses using the existing user data basically like Authentik does. But Authentik was too unstable for my tastes when I tried it for a few months so I ended up back on Keycloak. It was down way more often than it was working and that was without any real major customizing. Plus it wasn't well documented with examples for more complex setups.