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Many ways. Using a "bastion host" is one option, with something like wireguard or tinc. Tailscale and similar services are another option. Tor is yet another option.

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The bastion host is a server, though, and would be exposed to the internet.

It can run a firewall and forward to internal traffic as well.

>Never expose your server IP directly to the internet, vps or baremetal.

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