Is there a legitimate & very trustworthy way to invest in other startups?

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I swear I saw something way back when, essentially a marketplace of sorts of people looking for certain investments for their startup and what the investor would get in return...a mini shark tank, if you will.

Does this exist? Like a Y-Combinator for those that don't have millions but still have a decent amount of funds they'd like to invest in what they determine is a good startup with potential? And by legitimate i mean from a legal standpoint; like to where you can be sure you're getting X% of the business for $xx,xxx/$xxx,xxx

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