Restic and Borg seem to be the current favorites, but I really like the power and flexibility of Duplicity. I like that I can push to a wide variety of back ends (I'm using the rsync), it can do synchronous or asynchronous encryptions and I like that it can do incremental with timed full backups. I don't like that it keeps a local cache of index files.
I back up to a Pi 0 with a big local disk and rsync the whole disk to another Pi at a relative's house over tailscale. I've never needed the remote, but it's there.
I've had to do a single directory restore once and it was pretty easy. I was able to restore to a new directory and move only the files that I clobbered.