I'm gonna shill it again on here, but Pangolin is actually a really great tunnel manager if you need one. I toss it up on a vps then just spool up the newt containers on an endpoint in any network and it lets you expose ports and reverse proxy services through an admin UI.
It's really just some sugar on top of Traefik and Wireguard, so you could just configure all that yourself, but sometimes I like having an admin pannel.
You can even specify multiple endpoints for an exposed service and it'll load balance for you. Exposing raw TCP/UDP ports through the tunnel drops the internal validation (all services require authentication through Pangolin before you are allowed to access them), but as long as you set up like fail2ban or ssh key only access on the endpoint server you should be fine.
It does let you toggle availability through the admin panel or the config files and that kills the tunnel instantly so I usually just leave them off till I need them.