I prefer to assign an external name to an internal device and grab a free SSL cert from LetsEncrypt, but using DNS challenge instead as internal IP addresses aren't reachable by their servers.
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This would allow folks to have .internal with auto-discovered, decentralized, trusted PKI. It would also enable something like a DNSSEC on/off toggle switch for IoT devices to allow owners to MITM them and provide local functionality for their cloud services.
According to that, it's not supported by Chrome, nor Firefox.