We have many different systems that are managed by several people. We have chosen to use SSH public key authentication to access those systems. This works great, as there is no need to manage or share administrative account passwords, no need to remember passwords to the various systems (only the pass-phrase to your private key), no need to interaction (entering password) with every remote command.
The problem is, the public keys installed on the systems need to be managed somehow. People come and go, keys may get compromised, responsibilities change (a person authorised to enter one system today may be authorised to access a different one tomorrow). Currently we manage it by manually editing ~/.ssh/authorized_keys files on every account that needs that, but that is a lot of work and prone for mistakes.
Is there any ready tool to manage public keys in such scenario? Do you have your own solutions? Or is that whole idea of managing systems this way flawed?