A pretty common setup is to have a public VPS/dedicated server with wireguard/openvpn hosted at some trusted company and use that as an entry/exit point. It's basically what Tailscale is (massively simplified, obviously).
The VPS solution is usually the hub of a star-shaped network, so everything has to go through it, which may be limiting, given that, at least where I live, gigabit fiber is fairly widespread and reasonably priced. Most VPSs I see have less bandwidth than that.
There's headscale which allows setting up tailscale with a private server: https://github.com/juanfont/headscale/
Now, I have found it easier to manage devices using Tailscale. Also, Tailscale makes it very easy to manage some very dynamic routing (managing connections to external VPNs that mandate different non-wireguard clients).
Sadly, I’ve hit some issues with using tailscale’s DNS provider (my work configured Mac doesn’t like to have the DNS server changed), so I still have some work to do on that side.
Personally, I wouldn't let incoming traffic hit my home IP/router by itself, that's why I suggested having something in-between public internet and your local network.
But, any way that works obviously works, the rest is just details :)