If you must, you'd typically use a bastion host that's configured just for the purpose of handing inbound SSH connections, and is locked down to a maximal degree. It then routes SSH traffic to your other machines internally.
I'd argue that model is outdated though, and the prevailing preference is putting SSH behind the firewall on internal networks. Think Wireguard, Tailscale, service meshes, and so on.
With AWS, restricting SSH ports via security groups to just your IP is simple and goes a long way.
So what’s the difference in risk of ssh software vulns and other software vulns?
Also, another point of view is that vulnerabilities are not very high on the risk ladder. Weak passwords, password reuse etc are far greater risks. So, the alternatives to ssh you suggest are all reliant on passwords but ssh, in the case, is based on secure keys and no passwords. Should “best practices” not include this perpective?