If my singing range is Baritone and I'm trying to write songs on guitar, which keys should closest to my home (VS Away) singing area?

Am I limited to singing within particular keys (E.g C Major, D Major, E Major), or can I realistically pick between any of they keys, without any real cons to deal with?

I ask this question as I recently watched this youtube clip on singing to a key, and it seems certain keys are more suited to your home area, VS keys that make you really stretch to hit the high notes.


Thanks in advance for any help with this question.