You will need to authorize the self-signed certificate upon visiting each domain.
To visit https://secure.example.com you will need to register a device for second factor authentication and confirm by clicking on a link sent by email.
So you're convinced that Authelia is what you need. You can head to the deployment documentation [here](./deployment/index.md).
Some recipes have been crafted for helping with the bootstrap of your environment.
You can choose between a [lite](./deployment/deployment-lite.md) deployment which is deployment advised for a single server setup.
However, this setup just does not scale. If you want a full environment that can scale out, use the [HA](./deployment/deployment-ha.md) or [Kubernetes](./deployment/deployment-kubernetes.md) deployment documentation.