Tailscale works perfectly for this. There's a third party open source server, too: https://github.com/juanfont/headscale https://github.com/juanfont/headscale

Tailscale works perfectly for this. There's a third party open source server, too: https://github.com/juanfont/headscale https://github.com/juanfont/headscale (I just use the free hosted backend, obviously you trust them to do the key exchange)