Had something like this running before, with an extra tunnel to a VPS, so when I was connecting to this VPS on a specific port, it was eventually connecting to

Had something like this running before, with an extra tunnel to a VPS, so when I was connecting to this VPS on a specific port, it was eventually connecting to my home VPN - useful with dynamic IPs. I can't remember the tool I used for the tunnel. SSH was quite slow and I remember using something else at the TCP level. Any idea? Bonus for any solution that works with UDP.