The best way is to have a small server with wireguard installed, which is a VPN. This runs on virtually anything, including a raspberry pi or even a router with open-wrt.
Anyways, your wireguard server will only accept connections from devices that have its certificate (secure passwordless authentication).
Once you’re connected to that VPN, it’s effectively as being in your home network.
You might want to Google for guides on how to setup wireguard on a raspberry pi. Even if you don’t have a PI you’ll surely find the tutorial you need.