You could use a USB thumb drive to store the key. But in the end if the thumb drive is attached to the device all the time, where is the benefit?
Another option would be to have a "network attached USB" but again - that is nothing built in.
From my perspective the encryption on a pool level only helps you if a drive was stolen or defective, and you have returned to the manufacturer.
If someone grabs the whole box/server, including the thumb drive you store your keys on - it is the same as if you would have never encrypted anything.
Encryption is a great (and necessary) thing, but it has its challenges, especially on reboots / power outages.
One reason why I was moving the encryption part into the VMs.
I can bring up my virtualization system as well as all main services (including VPN). Then taking care of the encrypted datasets.