Many ways. Using a "bastion host" is one option, with something like wireguard or tinc. Tailscale and similar services are another option. Tor is yet another option.

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cortesoft 5 days ago | parent | next [-]

The bastion host is a server, though, and would be exposed to the internet.

	▲	j45 13 hours ago \| parent [-]
		It can run a firewall and forward to internal traffic as well.

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venturecruelty 5 days ago | parent | prev [-]

>Never expose your server IP directly to the internet, vps or baremetal.