Tailscale is what I use to solve such issues.

Same here for all of the 'self hosted' things. I've also just realized that my UDM has a wireguard implementation titled 'teleport' that seems to do basically the same thing. This is nice because sometimes the server at home that is hosting tailscale breaks, and the UDM will let me into the network at the router level. Knock on wood, that's yet to crash.