I have found that dynamic IP blocking programs such as sshguard or fail2ban are a CPU burden since that table needs to be refreshed as new IPs are added
or removed so I have stopped using them.

Have you seen ipset?
https://ipset.netfilter.org/

It is built for dynamically adding/remove IP's from a firewall without changing a table or rules or reloading the firewall. It holds a hashmap in memory of what IP's to block and integrates into the kernel. However you have to build your own mouse trap to use it. I don't know of anything out of the box that would automatically add IP's to it, i wrote my own script that gets fed log lines from rsyslog to do it.

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