I thought that there are approved human vaccines, but they were voluntarily removed due to economic reasons and lack of adoption.
Very hopeful for a meaningful means of prevention in the coming years.
[0]: https://www.pfizer.com/news/press-release/press-release-deta...
I don't hike as much in areas where Lyme is common as I used to, but I'd still take a vaccine if I could. (I didn't know the vaccine existed in 2001 or I would have)