Yes - enable iCloud Photo Library. I’ve been happy with this for my main personal library consisting of 90 GB library size and 75,000 photos.
I do maintain some side libraries that don’t sync to iCloud - but those are specific professional and trip specific libraries where I just save my best 100 or so photos from those libraries to my “main” library.
I have a MacPro that keeps original size of all photos. The rest of the iPad, iPhone, Apple TV and Mac that sync are allowed to “optimize” photo sizes when the main storage for that device runs low.
I’m happy knowing I can use Time Machine (or SuperDuper / Arq / CrashPlan / whatever) to make offline and off-site backups of my Main libraries and not trust that iCloud Photo Library will never mess things up. So far it hasn’t, but I have a plan to walk away from iCloud any time and restore from backup if needed.