I have a vps (hetzner dedicated server auction) as well as my home servers. The vps has a fixed IP so ive setup wireguard endpoints to all point to it with forwarding on so can access every device indirectly through the vps. It allows them to work across DDNS or remotely.

I used this guide (digitalocean.com/…/how-to-set-up-wireguard-on-ubu…). Tried different tools gui’s and other methods but always came back to this to work the best