Staking less than 32 ETH but still hold your keys

Hello everyone First post on Reddit, forgive my mistakes :)

There is something I can’t get my head around. I have approx 5 eth that I purchased ages ago (2016 i think) on Coinbase

They are still on Coinbase since that day. I have the app on my phone and everything is fine, they are staked and I am getting rewards.

I know the saying « not your keys, not your coins », but so far I did not care so much about it.

I am now getting more and more worried about this situation and I would like to correct this. Once the Shanghai update is live I would like to transfer my eth to somewhere I fully control them.

My question is : can you stake less than 32 eth AND have full control of your keys ? How about rocket pool ? I hear a lot about it

Thanks