Most of the functionality of sanoid/syncoid is already built into incus, using scheduled snapshots and incus copy --refresh or incus storage volume copy --refresh. The target server must also be an incus server, also with a zfs storage pool, but it doesn’t have to be in the same cluster.
All you need to do is to schedule the appropriate copy commands to run periodically for each container. I don’t know if anyone has wrapped that up into a tidy little script yet.
More info (including links to the relevant documentation sections) in this post: