There are a lot of small, specialized, stable companies that fit your description. The challenge will be to find these companies and get hired. Usually their turnover is pretty low and they don't grow much so there is not much hiring going on.
This is so true and I will not jump ship until this kind of job shows up. I suffer from IBS which might be stress induced so a changed work lifestyle is not just a luxury request for me. I want to focus and work in a relaxed customer focused remote position.
Related to IBS, IBD, etc., I've found this subreddit [1] to be super helpful (not for me but for someone I know)