Zerotier (mentioned below) is perfect for this!

To expand a little bit: it provides an (almost) zero-configuration way to set up a private 'layer 2' network that you can connect your home server to, and any other machines that you want to be able to connect to it or to each other. It handles NAT traversal completely transparently.

In practice, it means that if I have a (say) NFS server connected to a Zerotier network I control, I can connect to it transparently from anywhere from another machine on that network, no matter what NATs / firewalls either machine is behind, even if they change. Perfect for phones, roving laptops, etc. I've gone to a model where I do most of my development (over mosh/tmux) on my home machine, from wherever I happen to be.

No home firewall configuration needed at all.

I usually setup a reverse ssh tunnel from the destination to a VPS I own. For example, you could setup a reverse tunnel to sshd on the destination, exposing sshd of the destination on the VPS, to which I ssh and specfiy the VPS hostname + the reverse tunnel port, which tunnels me ssh the destination host.

Also, if you can't open ports outbound at all, there's https://samy.pl/pwnat/ but it makes things very slow.

Wireguard! And a VPS and HAProxy. You can use Wireguard to do remote port forwarding. Follow a tutorial [0] to expose the home server's port on a VPS. Now use HAProxy to reverse proxy that Wireguard port to the world.

[0]: https://staaldraad.github.io/2017/04/17/nat-to-nat-with-wire... - you can ignore 'NAT-B' in this one.

Try a Tor hidden service, configured with the low-latency/lower-privacy settings. It is slower than many of the other solutions, but very reliable and very simple.

I use a jump box. RDP to the box and access everything else from there.