At my last job we deployed a special sub-domain for that purpose (dnsauth.example.com) and manually created CNAMEs on our main (sub-)domains to point to it.
We then deployed a single (no-HA) externally exposed BIND server with a bunch of scripts that folks could connect to (we had deploy hooks scripts for users/developrs). Nowadays there even purpose-build DNS servers for this purpose:
My solution was to give up on CertBot and use dehydrated instead. This did require me to come up with a script to make the necessary API call to the DNS hosting, which dehydrated will then run as necessary.
A CertBot ticket on the subject opened January 2026: