Add Tailscale to your server, and either add it to your devices or enable the Funnel feature (which funnels specific traffic to a specific service in your Tailscale network).

I run Tailscale on every device that supports it, and use one device on my home network as a Subnet Router (as the name describes, provides a route to it's subnet for Tailscale clients to have direct access to that subnet and it's devices, eg printer or other hardware).