I do this with ZFS using a Keyfile and a script that runs at boot to unlock/mount.
I put the keyfiles on a USB drive. (Make sure you have backups!) This USB drive is hidden, I won’t go into details on how I did that, several ways to do that, you can get pretty creative.
If someone steals my server, they need to know where I hid my USB, or they won’t be able to get to any of the encrypted datasets.
I like little racks