@arbawk Tailscale, Zerotier, and Defined provides peer to peer or VPN overlay services. A agent could be installed on a Linux, Windows, Mac, or supported NAS or networking device to provide remote access over encrypted Web traffic(HTTPS). There is no requirement to punch holes in your firewall to allow UDP ports 500 or 4500(Typical IPSec) for VPN to work.
Back in the day, gamers used LogMeIn Hamachi to accomplish the same thing, two friends would download Hamachi, install it, establish the Peer-to-Peer connection and start playing. The same holds true with this technology, but in larger scale. You can use ACLs(access lists) to restrict traffic.