Self hosing a VPN on your LAN is the only way to go.
Tailscale makes it easy.
- Only need to run a single instance on or behind your firewall with advertise routes enabled to access any device or service using its static LAN IP.
- Free tier up to 3 users and 100 devices.
- Runs on almost any platform. (Windows macOS, *nix, AppleTV, NAS, docker container, etc.)
- Requires no open ports and will traverse any level of NAT, including CGNAT.
- Uses any number of existing identity providers for authentication when adding devices.
- You can use an exit node for full tunnel when connected to untrusted networks, which will send all traffic through your home ISP.
Personally, I run Tailscale on my open source enterprise class
pfSense firewall, but I do have it installed on TrueNAS, AppleTV, Mac, iPhone/iPad)