You might want to look into Tailscale if you're just starting out. Configure a small VM to act as a Tailscale subnet router for whatever network your macOS VMs

You might want to look into Tailscale if you're just starting out. Configure a small VM to act as a Tailscale subnet router for whatever network your macOS VMs are on, after which you will be ready to access them remotely from the coffee shop. If you prefer to have access to ESXi from a separate VLAN/network, then get the Pro plan and setup a 2nd subnet router for your hypervisor, NAS, etc.