I use tailscale to access my machines around the world. It's secure and private. Nobody on the internet knows about this machines, even though they are servers. Easy to configure
I agree about too good to be true. I just can't believe it's free for up to 3 users and many machines. But if you look under the hood there is nothing there that you can't build on your own. It's just more hassle to do it. You can install wireguard on every machine that you own and you can manage the keys by yourself, you can add routing tables and internal DNS service. Tailscale just packages that in nice UI with centralized management.