A superset of these best practices in the article would be CIS benchmarks. Collectively agreed on by industry leaders and provide extensive resources that span the gamut of cloud, networking, and storage infrastructure.
I agree in general but there are a handful of edge cases which Google solved better with IAP: SSM can't forward ports to other hosts or any resource other than EC2. It's great for using SSH, SFTP, even tools like Ansible work fine, but if you need to get a port forward to something like RDS, a service in Fargate, etc. you'll need something else.