Router -> all vlans (trunked / tagged) into managed switch, then you do the routing there. Thats how its done usually.

You can then assign ports of a switch to only accept/output a single vlan directly (untagged), so the devices dont need to be vlan aware. Or you output only needed vlans as tagged, for example for an accespoint or server.

You can do the same in virtual nerworks like inside proxmox, all vlans on one bridge and then set the VMs to single vlan