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Have a look on Rex - https://rexify.org, in addition to dsl like constructs it is just pure perl. It also doesn't need any dependencies on the managed host, just perl and ssh. Source: over 2 years ago
Since I feel that rex needs more attention, here is a small example from $work using rex. Needed to quickly reconfigure a number of Ubuntu hosts with netplan to use static ip addresses instead of DHCP. Source: almost 3 years ago
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