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If I were on Matrix I'd love to get rid of that too, haha
Lightest "signal" I've had is XMPP+OMEMO, but I think that that is still overkill for an ESP32 that also needs wifi and https. Which is why I said ntfy because you just run that over mTLS (current main branch of the vendor apk supports it) and done.
Someone in Pleb Lab "reverse engineered" Signal and is creating a Slack-like interface for Signal to communicate with his bot child (also to communicate with frens cause he likes Slack's interface).