I personally feel that assigning copyright on commit is a stopgap.

What if you die? What if you abandon the project? How can a fork of your project work with that if they want to change the license down the road? Copyright basically lasts forever now, so any choice about "assignment" will last forever.

Personally I really feel we need a solution that allows the current "maintainers" to have control over it. I don't really know what that would legally look like, but I've been hit by issues from open source copyright too many times to consider it a "solved problem".

Perhaps a new license "framework" that allows each contributor to say how they want to allow their contributions to be used in the future? I honestly don't know, but the current solutions are holding us back in some ways.

Assign copyright to Apache or an equivalent organisation, that takes care of governance past the single maintainer.

In any case this is worse if there are multiple contributors each owning their copyright, not simpler.

I feel it really depends on the type of project. In my case the code is rather niche and would only really be licensed by a small number of companies doing embedded robotics or AR. However, this type of stuff is also fun for hobbyists, so I wanted to make it available. I don't foresee a huge developer community springing up around this, and since I'm the only person who will realistically be making major contributions and I'm working on it more or less full time, I need a way to fund it.

The real problem for me isn't major contributions, if these started coming in I may reevaluate my position. The problem is minor bug fixes where the complexities of acquiring another copyright holder outweigh the benefits of accepting the contribution.

As above, I don't have a good solution.

it's pretty straightforward, there just needs to be a legal entity (ie, a corporation) representing and controlled by 'the maintainers', to assign copyright to.

The easiest way to do this is under the umbrella of a foundation like ASF. But you could create an LLC or any other form of corporation with no income or assets other than the copyrights it holds, if you want. There would be at least some minimal annual registration costs etc.

Any framework that allows contributors to _individually_ set terms for their contributions is going to be pretty unworkable, as the actual terms for the whole product become the union of any term any contributor has ever set or something, a mess.