Something like Wireguard, Tailscale (uses Wireguard but provides easier administration), Reverse Proxy, VPN, are the best approaches.
Since OP doesn’t need for anyone else to access, I’d use Tailscale (Wireguard if you want a little more effort). Tailscale has a full self-host option with Headscale, though I have no problem with letting them provide discovery.
With Tailscale, you don’t even need the client on devices to access your Tailscale network, by enabling the Funnel feature. This does something similar to Reverse Proxy, by having a Web-exposed service hosted by Tailscale which then routes traffic (encrypted) to your Tailscale network.