Tailscale or Netbird literally take 15 minutes tops to set up and get working. Then you just pick whatever services like SSH you want to use, have them accept connections only from Tailscale/Netbird IPs, and you're gold.
I use Tailscale on my entire home lab, and with my friends and family for everything from Minecraft, to accessing my Jellyfin home media server, to accessing my parent's home PC across the country to check updates and backups.
Fast, easy, free, and secure.