None! The closest you would get is traditional japanese ju-jitsu and Ken-jutsu. Also the traditional weapon arts.
However, the most effective modern art based on "ninpo" would be Bujinkan, in my opinion. I would not even mention Dux martial arts in the same vein as ninjitsu. It's about as "real" as that of Ashida Kim. In other words, not at all.
Bujinkan has a lot of practioners who believe deeply in reality based training. I have been to one of thier dojos (for about 6 months) and found it to be excellent. But, they train hard, and I was getting hurt a lot. There were quite a few cops and military guys in the class, along with the typical dungeons and dragons type fat guys.
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