To do this without port forwarding you could look at using tailscale (https://github.com/tailscale).
post
https://github.com/fatedier/frp 10 minutes reading 5 to setup the best tool for tunneling i could find. The frps on a vpn(the most cheap you can find) and frpc on your server at home
The commercial VPN client part shouldn't affect your problem if I'm reading it correctly and you just want to access your LAN remotely. If you're hosting the Wireguard server on the router, you'll likely need a firewall rule for the port used by the wg server to allow inbound connections. And you need to configure AllowedIPs correctly on both server and client.
Since you're using OpenWRT, you might try out Policy-based Routing which gives you a lot of control over this and also has some instructions for various server and client configs which may be helpful.
Also, if your ISP uses a CG-NAT you won't be able to do this without another publicly accessible device, although some ISPs will disable it if asked.
Acronyms, initialisms, abbreviations, contractions, and other phrases which expand to something larger, that I've seen in this thread:
| Fewer Letters | More Letters |
|---|---|
| IP | Internet Protocol |
| NAT | Network Address Translation |
| VPN | Virtual Private Network |
| VPS | Virtual Private Server (opposed to shared hosting) |
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