There is a lot of information scattered over the internet, but it is hard to find something concrete
The question is what is the best modern way to create a live, low latency solution for video streaming
What solutions are being used for products like Wyze cams, Ring video doorbells, etc.
What are the best solutions for Android/ios clients and for web clients
The "low latency" requirement, and a "security cam to a few viewers" requirement really narrows down your options to WebRTC Media Server.
Check out Kurento, Unreal Media Server, Ant Media Server.