I use SSH with port fowarding to securely access my services running on my server to anywhere I have internet. Its easy to setup, just expose any device running a ssh server like openssh to the internet, probably on a port that isnt 22, and with key only authentication.

Then on whatever device you want to get your services on you can do like

ssh -p 8022 -L 8010:192.168.75.111:80 user@serverspublicip

Where 8022 is the port of the ssh server exposed to the internet (default is 22), 8010 is the port its gonna bind to on the device you are using the client (it will bind to 127.0.0.1 by default), 192.168.75.111:80 is the address/hostname and the port of where your services are on your local network, and user@serverspublicip is your username and the ip address of where your ssh server is.

You can also use ssh to make a SOCKS proxy in your network like this

ssh -g -D 1080 user@serverspublicip

This will make a socks proxy into your network on your device at 127.0.0.1:1080. All of this can also be done on just about any mobile phone running android by using termux.