If users are still unwilling to run their own infra, then that seems like a great opportunity for Identity as a Service. I'd feel much more comfortable handing identity to a firm whose entire business model revolves around securing my information and protecting my privacy rather than a big-tech.
FYI, iTerm2 actually has a tmux integration. Allows you to get the best of native paneling and persistent sessions.
[1] https://www.youtube.com/watch?v=l9U8X6I1vow [2] https://arxiv.org/abs/1903.06684
TL;DR the objects are grouped into categories which determine the "Key points" on the objects (similar to this 'skeleton') which the robot knows how to interact with in order to bring about the intended manipulation.
https://youtu.be/7vsCAM17O-M