Netbird reverse proxy: https://docs.netbird.io/manage/reverse-proxy

It's like Tailscale, but Open Source. You can self-host the components, if you want. I just use the cloud offering. I have a domain name that resolves to my server. There's different ways you can do auth. I just hard coded an allow list of IPs. Otherwise, devices in my Netbird network can use the private IP.