You could deploy a Kubernetes cloud using Kubrspray. The learning curve is steep bit rewarding.
this post was submitted on 09 Nov 2023
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or just use k3s
depending on your use case, it might be worth learning k3s - basically a more supported docker swarm. it’s a bit harder to get up and running compared to docker, but you can do a lot of cool stuff with it.
think they are on the same computer k3s with kubevip may work for you - you can have containers distributed amongst many computers (nodes), but to computers outside of the cluster it just looks like one machine.
For Container mgmt on docker is Portainer the Solution Otherwise lern k8s With rke2 or k3s
If you're wanting a learning resource (rather than having it "Just Work"), may I offer https://geek-cookbook.funkypenguin.co.nz/docker-swarm/ ? It's my opinionated process on building out a swarm, much like you describe :)
Just have a look at Nomad.
Had a single docker machine before, and wanted to upgrade to a more distributed setup. Works like a charm now 😀
IMHO Nomad is in the sweet spot between Docker and K8s: more capable than docker, but still not the mess of disparate moving parts that is K8s.