The free version of the rXg Router is an incredible solution for SOHO type scenarios, I run it myself and it's amazing. Let's say you want to have your work devices on one VLAN, your home devices on one VLAN, and your guests devices on a third VLAN so they NEVER see each other.
Let's say you want to manually approve your guest's onboarding request, super easy!
Just be warned, their product is built for someone who knows something about networking so if you're challenged by that requirement please take it as an opportunity to learn!
Free technical support is available at reddit.com/r/rgnets, head over to RGNets.com for a free download!
If you are looking for a free self-hostable firewall solution, software rXg with community support is 100% free.
Sign up/download: rgnets.com Free support: /r/RG Nets
The level of features / HW requirements may mean this is not suitable for more casual self-hosters, but as a former pfsense user myself, I think this is the path I found.