How to distribute private android application to specific devices?

How can I deploy an APK for android that is only available for the devices I specify beforehand? I would like to a host a private application that is only available to workers inside the company and only for the devices that are owned by the company. I know I can do this with Google Play, but that requires a G-Suite/Workspace subscription we do not have. I would like to continuously deploy new versions and the devices to update automatically. Are there any custom marketplaces that allow this? Anything else?