Tailscale is the VPN I use to keep track of all of the computers on my local and wide area networks. It runs on MacOS, my Pi’s and Jetson Nano, and on a couple of temporary servers in the cloud. When we’re out of lockdown, I’m expecting to also set it up running on a Pi at Workantile so that I have ready access there as well.
Unlike most VPNs that act as proxies to the greater Internet, Tailscale really helps you care for and extend your trusted LAN.
Free for single-user use on whatever collection of computers you have for it.