At my current company, we're using pdsh with tail -f piped into sed to follow logs from multiple remote servers at the same time, label them and colorize them. Works okay. Decent solution without needing to install much other software. Not my favourite because it doesn't deal well with SSH sessions timing out and leaves some tail -f processes hanging, and some other quirks. But out of laziness and risk of breaking things in prod, we haven't tried experimenting with much else.