Casa, unchained and nunchuck all provide this service without you having to trust them with the money. You do have total custody of your bitcoin and they have no way to move it. You are trusting them with setting a multsig wallet up but not with the keys. You are able to trustlessly spend your money without them.

You can do this yourself with a wallet like sparrow but should read/study everything you can about multisig wallet setups before you do. There is a lot of good material out there. One thing you want to make sure you do is store all the public keys for each hardware wallet(sparrow makes this very easy). The main value these companies provide is walking newbies through the process of setting up a mulitsig wallet and helping eliminate possible things that could go wrong. You can easily learn most of it yourself but it takes some time.