Tailscale is a good first step, but its best to configure wireguard directly on your router. You can try headscale but it seems to be more of a hobby project -

Tailscale is a good first step, but its best to configure wireguard directly on your router. You can try headscale but it seems to be more of a hobby project - so native wireguard is the only viable path. Most router OS's supports wireguard these days too. You can ask claude to sanity check your configuration.