I solved this using tailscale, no need to make your home server visible to the world, no Forwarding rules on your router. It works like a VPN on your phone/laptop and access directly your target machine in your network running taiscale. There is a completely selfhosted version called Headscale, but you’ll need an accessibile server on the internet. A cheap VPS would work for this. You can check also Zerotier, Nebula , Netmaker, pure Wireguard etc etc. Godspeed!