One way we're simplifying this a lot for people is the introduction of our managed services[2][3]. We understand not everyone can use a managed service though!
Boundary will integrate fairly deeply with Consul/Vault but these integrations will be optional.
[1]: https://www.vaultproject.io/docs/configuration/storage/raft [2]: https://www.hashicorp.com/blog/hcp-consul-public-beta [3]: https://www.hashicorp.com/blog/vault-on-the-hashicorp-cloud-...