I was speaking of assigning private static IPs to everything on your virtual private network, and then using a private DNS server. This allows you to reach you

I was speaking of assigning private static IPs to everything on your virtual private network, and then using a private DNS server. This allows you to reach your devices/hosts by name rather than their IP. However, the entire scenario relies on you having at least one static IP address for your firewall/VPN endpoint. You need to be able to reach that from anywhere on the public Internet.