It’ll be more involved for you to set up, but pfSense is what I use. I basically forget it’s there until I want to change something (add a new VPN user, monitor bandwidth usage). I’ve set up an IPSec VPN that works well with my Apple devices, especially with a configuration profile that enables on demand VPN (connect via VPN when certain conditions are met, like not on my home WiFi). For hardware I use a cheapish “industrial” computer from AliExpress. Probably not the best thing security-wise (no firmware updates in the past few years, it feels like it’s just shipped directly from a random factory in China), but it’s been great so far.