I love tailscale.
Lately I have been migrating all my self-hosted stuff into a raspberry pi (instead of running a public instance in the cloud). It gives me a bit of piece of mind knowing that it adds an extra layer of security (to hit any of my endpoints/apps you would need to infiltrate my VPN). And it will save me a lot of money on hosting.
I don't need to expose my computers publicly or enable upnp or anything. It just works.