You can use GCPKMS (probably AWS KMS too) to unseal Vault automatically.
https://github.com/sethvargo/vault-on-gke/blob/master/terraf...
The KMS ring itself is only accessible by Vault. People with high enough privileges for our Vault GCP project could technically grant themselves access to it, but on day-to-day business, nobody can view the project.
At some other place, where we were using AWS, I wrote a script that would store encrypt unseal keys (need multiple due to shamir) via pgp using their keybase public key. IIRC you can store encrypted keys in Vault that can be accessed only for unsealing purposes (please correct me on this). When needing an unseal, the script on the user side would then decrypt the key and submit it to Vault for unsealing. It worked well enough, and it felt like being in the movie/game GoldenEye, but nowhere as slick as auto unseal.
Regardless of the setup, yes, at the end of the day any solution is really just pushing the problem further down the stack.