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Is there good FOSS software that you can run on debian or ubuntu that can allow you to access your files using SFTP while the files are being stored with a RAID system? And is it possible to have your files store older versions of the file when you overwrite them and keep these older versions of the file for X months?
Yes, that shouldn't be an issue. I believe SFTP would be supported basically out-of-the-box if you install OpenSSH during the install, but you might want to create a group and configure access if you're not the only user.
The version thing is what I'm doing with ZFS (also works with BtrFS, but it doesn't feel as reliable yet). Basically I take snapshots every hour, and the entire state of the filesystem at that point becomes frozen in time, and can be accessed as long as the snapshots exists.
sanoid automates the process and cleans up so that there's a reasonable amount of snapshots, not hundreds or thousands.
Of course, this means that you can't really regain any space when you delete things, until the oldest snapshot containing the data is deleted.