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Looks like there's some support for that already in systemd, but it's not complete...see: https://github.com/systemd/systemd/issues/8096

Also iptables would be a simple option for a round-robin or random load balancer. No health checks or anything though. See: https://scalingo.com/blog/iptables for an example.

Start point would be to search for socket based activation.

http://0pointer.de/blog/projects/socket-activation.html

I've done it with Python it's very easy.

systemd listens on a port and when a connection request comes in it starts your service. You could spawn a new process and let systemd keep waiting for new inbound connections.

SO_REUSEPORT ?