Similar is thttpd.

I was not familiar with darkhttpd. Both of these are similar to the sqlite server in security design (chroot capability), but unlike in that a single process serves all requests and does not fork.

I have used stunnel in front of thttpd, and chrome has no complaints.

https://acme.com/software/thttpd/

althttpd has CGI, sometimes interesting.

The thttpd server also has CGI. I wrote about combining it with stunnel. The rfc-1867 tool is overly dated, and I've replaced it for my internal use:

https://www.linuxjournal.com/content/secure-file-transfer