I've used https://smallstep.com/docs/step-ca/ as a CA internally, works well.
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But, name constraints are enforced by "relying parties" -- HTTPS/TLS clients & servers that are validating certificates and authenticating remote peers. In practice, there's a risk that a broken/misconfigured relying party would trust a cert for google.com signed by an intermediate that's name constrained / only trusted to issue for `*.example.com`.