AppleTV has a Tailscale client that you can use an exit node. That's what I do to VPN back to home when I'm traveling.

AppleTV is pretty random and only vaguely incidental to the solution. Tailscale runs on computers. Basically anything will do. If you don't have a home server, just grab a cheap RPi or an old laptop. Or in a pinch drop it onto an old phone from your old phone drawer.