I have a similar setup and I was also quite paranoid at first. Wireguard is a very solid solution that does precisely what it claims to do and allows you to lay

I have a similar setup and I was also quite paranoid at first. Wireguard is a very solid solution that does precisely what it claims to do and allows you to layer extra network controls on top of it, so the vpn clients only get routed where you allow them to. A bit less hands-on solution could be something like tailscale.