Staking Question

So far I have been hodling my ETH on a hardware wallet. Now that I've decided i'm going to hold long term I want to stake it.

However, i'm slightly paranoid about having to effectively trust a staking service like Binance, Rocketpool, Coinbase. If they prevent me accessing my funds by locking my account that's a source of stress i'd rather avoid.

Is my above understanding correct or am I missing something? Is there no way to stake while keeping my ETH on my hardware wallet?

Thanks for the help.