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You could try SSH certificates using something like https://smallstep.com/sso-ssh/ - essentially you delegate validation of your public key to a IDP, which your servers are configured to trust.
The other approach would be something like ansible or puppet to deploy trusted keys to all servers
Hm... these are both interesting but might be a bit overkill IMO.
I don't think I'd need a CA and intermediary step if all SSHd needs to do is check if a key is a currently approved key for this particular service or not; and I last looked at chef/puppet many years ago, and it was way too much orchestration work that we no longer need w/ Docker containers and smaller footprint host OSes.