WireGuard wouldn’t work with CGNAT. The two servers can’t connect. I can’t get it to work anyways.
If it weren’t for CGNAT, are you saying that OP could connect all their servers to the VPS using WireGuard and then OP could connect to the VPS? In that case it seems easier to just host a wireguard on one of the servers at home and I highly recommend doing that if you don’t need to deal with CGNAT.
I think you could host your own Tailscale server on a VPS and then use tailscale on the servers and your client computers/mobile to bypass CGNAT. That’s basically what I am doing right now, except I haven’t hosted my own Tailscale server.