I keep everything behind a VPN so I don’t have to worry much about opening things up to the Internet. It’s not necessary about the fact that you’re probably fine but more so what the risk to you is if that device is compromised, ex: a NAS with important documents, or the idea that if that device is infected, what can that device access.
You could expose your media server and not worry too much about that device but having it in a “demilitarized zone”, ensuring all your firewall rules are correct and that that service is always updated is more difficult than just one VPN that is designed to be secure from the ground up.