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You can run your own relays, the obstacle is that each relay takes up many terabytes. But it's fully open.
https://github.com/bluesky-social/pds
https://whtwnd.com/bnewbold.net/entries/Notes on Running a Full-Network atproto Relay (July 2024)
https://news.ycombinator.com/item?id=42094369
https://docs.bsky.app/docs/advanced-guides/firehose
https://docs.bsky.app/docs/advanced-guides/federation-architecture#relay
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