Aside from Wireguard, you have Wireguard alternatives-but-not-really-since-they-are-based-on-Wireguard like Netbird and Tailscale. The latter is more well-known, but the main downside is that, to connect to the cloud servers, you need a Google, Microsoft, or Github account to login. It can be self-hosted with Headscale (community project) though (and you don't need an account for that, since it's your hardware)! Netbird is similar to Tailscale, but you can use normal email login to use their cloud servers, and they offer official self-hosting support.
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