Lately I've been trying to make this easier. I developed ormesh (https://github.com/cmars/ormesh) in an attempt to simplify setting up hidden services for private use.
I think both Tor and IPFS are both awesome and useful decentralization projects, they just have different use cases & characteristics. AIUI IPFS lacks fine-grained access controls. Last time I looked, it seemed like I either had to run all my own infrastructure of IPFS nodes with pre-shared private keys, or open everything to the public and encrypt on top of that... I prefer the Tor hidden service model, where I can decide on a per-service basis how I want to share it, revoke client access if necessary, and have my traffic securely routed on existing infrastructure.
Edit: fixed link