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I use borgbackup together with borgmatic and vorta. Does what you want and works very well.
Perfect - thank you :)
restic checks all boxes except scheduling but is easily cron’ed.
It’s encrypted and has a ‘forget’ with a ‘--keep-last n’ switch.
Have a look at kopia. But a proper backup is never set and forget.
I use DejaDup because it is simple to setup, does encryption, runs periodic validations, and is easy to restore at a specified date. BBC discalimer "other backup systems are available"
I'm still using Duplicity. It's a command line program, so point #1 is handled by systemd timers, but it does the rest for me. With a udev rule and systemd automount, I even have it so I can swap out the backup drive and take it off-site occasionally.