You create a (self-signed) CA certificate, put its certificate as the client ca in your web server.
Then you can create certificates using this CA that you distribute to your devices, only devices that have a certificate signed by your CA are allowed to connect.
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The answer is mTLS.
But you will run into the key distribution problem. But if your number of devices is manageable, it could be the solution
Could you expand a little please? I read this https://www.cloudflare.com/learning/access-management/what-is-mutual-tls/
It seems this is mainly for reaching the server securely not blocking others, right?
You create a (self-signed) CA certificate, put its certificate as the client ca in your web server.
Then you can create certificates using this CA that you distribute to your devices, only devices that have a certificate signed by your CA are allowed to connect.