Tailscale is probably your best option.

I use zerotier. It’s excellent.

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If you are fine with ipv6, I’d use yggdrasil.

Just install it on any number of devices and each of them become part of a single «local» ipv6 network.

I use tail scale to get on the LAN and Rustdesk for desktops, webuis or SSH once in.

I use headscale and headscaleui but I’ve heard things about net bird and netmaker

If you already own a domain name, you could use Cloudflare tunnels using cloudflared (it’s free).

Yggdrasil Network might be an alternative.

It’s a breeze to set up, just be mindful about setting up your firewall and allowed keys, depending on your use case.

zrok