You could set up your servers to connect to an internet reachable server via wireguard, use something like tailscale or a reverse ssh tunnel, though the latter might be a bit unstable on intermittent connection loss without any further measures.
I'd have the clients connect to the central server in a hub-and-spoke VPN topology using something like WireGuard say.
Use the central host as either a jumphost or configure your personal devices to also connect to it via VPN and have it handle routing so you can connect directly to the clients once you're connected to the central server.
Thid is a somewhat standard topology so no need to reinvent the wheel.
Tailscale should work in this scenario.
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