Even though Ory Keto is more well known, Authorizer seems to be a step ahead by already supporting subject set rewrites, one of the key core concepts from the original Zanzibar paper (the lack of which being a major handicap).
Also, how do you manage cascade relation tuple deletion upon deleting the corresponding object/subject resource (e.g. user/group/etc)?
https://tailscale.com/blog/rbac-like-it-was-meant-to-be/
And see also this talk explaining the Zanzibar paper from Authzed.com a startup that will sell you Zanzibar as a service.