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The Omni Sync Server predates iCloud, and also works with devices that don't work with iCloud. It's just a standard WebDAV server.

You could also run a WebDAV server on your Mac (there's one built in, though it takes a bit of configuration) and sync with that. OmniFocus for Mac automates this process, but isn't necessary if you're not afraid of getting your hands dirty. It would only work when you are on your home network, unless you go to more effort, but it doesn't sound like that is an issue for you at the moment.