I can second Frigate and welcome any work in this space, so nice work OP will have a look. For others asking, I have found so far Hikvision POE PTZ domes like DS-2DE2A404IW-DE3 have been reliable, depends on your budget. I have cams themselves fully locked down from internet and on a separate subnet on the local net. OPNSense is also a friend here. I would love some OSS firmware for these cams. For remote, I find ZeroTier to Frigate & Home Assistant machines is all I need. I get why others WireGuard too. YMMV