Well you don't need hardware to self custody. Blockstream Green wallet is a great software self custody solution on mobile. Spectre, Sparrrow, Electrum are all great on PC

Also, thats all for on-chain. If you're looking into lightning, check out @npub1mutn...23vg. Its seriously the best user experience I've seen yet AND its self custody. Idk how they did it, but its truly the best of both worlds.