With a single command you can spin up a hidden service:
oniongrok 8000
sets up a forward from localhost:8000 to onion service listening on the same port.
oniongrok 8000~80
maps it to port 80 on the onion,
oniongrok xyz.onion~12000
Forwards an onion service to localhost:12000
It's kind of like an onion-flavored socat.
Service addresses are temporary, but I'm working on making these persistent there, as well as client auth.