My cheap garmin watch (forerunner 45) plus wearing a hrm when i ride and stuff and occasionally looking at intervals.icu does pretty well. The watch estimates how much you sleep, although I also just know how much/how well I slept.
For awhile I tried tracking HRV but didn't have a fancy whoop or anything and was using an app that used your phone camera and flash. It was too finicky and I never trusted that I got a good reading even when it said so. My low HR when I wake up seems to be about as good of a metric, to me anyway.