I assume when you say externally you mean via Tailscale, but without running Tailscale on each container/service?
What I currently do is run Tailscale on a few workstation-type devices, but everything else in my network doesn’t run the Tailscale client (partly because things like printers, outers, etc can’t run the client, and it’s less convenient for things like servers).
Those type of devices can be accessed by running one Tailscale node as a Subnet Router. This device is then able to route traffic to it’s subnet. Currently I use a Raspberry Pi for this.
My Pi also runs PiHole and acts as my DNS server, so it can name resolve local resources, though I don’t think this is required, because Tailscale has its own DNS resolution called Magic DNS. So your Subnet Router should be able to resolve those names anyway (going off memory here, so be sure to check the docs, I may be misremembering how it works since I use the same device for DNS).
You don’t even need Tailscale on a remote device to access your LAN - if you enable the Funnel service, you can provide an inbound encrypted path to specified resources.