It is still under development, but try Keylime[1]. They have also a nice agent written in Rust[2] with low footprint.

I write some notes[3] about how to use it in openSUSE MicroOS / Tumbleweed, but can be extrapolated to many other distributions too.

[1] https://github.com/keylime/keylime [2] https://github.com/keylime/rust-keylime [3] https://en.opensuse.org/Portal:MicroOS/RemoteAttestation