For Container mgmt on docker is Portainer the Solution Otherwise lern k8s With rke2 or k3s
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You could deploy a Kubernetes cloud using Kubrspray. The learning curve is steep bit rewarding.
or just use 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.