The "canonically" most-used QR code library, I believe, should be libqrencode (Github, Project homepage), which Kagi could use to provide this service internally-hosted.
It is licensed merely under GNU LGPL, meaning if used completely unmodified, no code would have to be open-sourced; if modifying were necessary, only the modified library, not the entire application source code would have to be published (I am not a lawyer, but that's my understanding).
Edit: Doesn't Orion have a feature to display the current URL as a QR code already, too? What does it use?