Yep! And TP-Link, Asus, GL.iNet, MicroTik, and other consumer routers also have Wireguard/OpenVPN servers and Dynamic DNS clients.

For the parent commenter: you set up an account at a Dynamic DNS service, and configure your router so when it's online, a dynamic DNS hostname will always point at your router's IP. Then you set up a Wireguard or OpenVPN server on your wifi AP. Then set up your phone, laptop, etc to connect to that server at the dynamic dns hostname. Now you have a VPN server running on your home wifi AP. Connect when you're away from home, and your traffic will go securely through your home ISP connection.