ssh-copy-id command

I do not want to start ssh-agent and ssh-add as described here to manage my ssh keys for password less login. How do I install keychain software to manage my keys running on a Debian or Ubuntu based cloud server?

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How do I install my SSH public key ~/.ssh/id_rsa.pub onto a remote Linux and UNIX server automatically from Linux workstation or Apple OS X laptop without using scp and/or copy & paste method?

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