You mentioned accessing your own devices from anywhere, and that's what I use Tailscale for. It was a dream to set up, and for my own services, I don't need TLS or custom domains, really. I have a few shortcuts on my phone that work everywhere, Tailscale IPs are static.
> Also, is there any way to allow public access to certain ports on certain machines, ie if you wanted to run your personal blog on your RPi?
This is sorta outside the scope of what Tailscale aims to solve, but one of the cool things you could do is just run a proxy somewhere publicly accessible and route requests to your RPi.