I also use ZeroTier for a few years now. Very useful. Unfortunately my current ISP use NAT instead of giving their subscribers routable ip address. This means ZeroTier reverts to using an external relay when accessing my machine from outside, which is very slow and has very high latency from my country.
So in addition to ZeroTier, I use AutoSSH [1] to setup and maintain a persistent ssh tunnel on a high port on my vps. It's a lot faster than ZeroTier's relay because the vps is in a neighboring city instead of in another country. It's pretty reliable too, automatically reconnect when the tunnel is down. I'm still using ZeroTier for backup connection though.
Simply use `autossh -M 0 -o "ServerAliveInterval 30" -o "ServerAliveCountMax 3" -v -N -R 22222:localhost:22 user@my-vps-domain` to forward port 22222 on your vps into your local machine. I also configured a supervisord instance to automatically start it on my machine so it'll always running.