Using plain rsync sounds sane.
Sending local ZFS snapshots to the remote ZFS might be problematic. Consider accidentally deleting important data locally and nuking all of your local snapshots, then sending that to the remote ZFS. You lost all of your snapshots and there's no way to recover the deleted data. Instead do what I do - keep the two ZFS systems separate and use a non-ZFS mechanism to transfer data - rsync, Syncthing, etc. That way even if you delete everything locally, nuke all local snapshots and send the deletions via rsync remotely, you could still recover your data by restoring the remote ZFS to a snapshot prior to the deletions. For reference I have two ZFS machines doing frequent snapshots and Syncthing replicating data between them on immediate basis.
!selfhosted, please do critique if you find some fundamental issues with this.