Tailscale (https://tailscale.com) is a great solution for this use-case. It's also just an absolutely excellent experience overall and I can't say enough nice things about it.
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Tailscale scan your host for all open ports and open a WireGuard connection between the installed machines. Like every machine is on the same network, even if they are not. Way harder to have a good access control compared to plain SSH. And you don't need extra SW for just SSH.