I second this. Tailscale is great. However, if you're someone that prefers a selfhosted option (and open source) - there is HeadScale. It lets you run your own coordination server locally.
Unfortunately I can't justify a paid option right now, and I need to be able to support at least 5 to 10 users. Otherwise I would jump on it, it's very good.
Tailscale is incredible in its ease of use. So much so that I got scared and turned it off.