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After a few months, I started tinkering with quite a few options people have suggested on the sub. Though this post has generated some new options I hadn't seen before like headscale and frp that I plan to look into and mess with.
I would suggest to think about the thread model that you are facing so you can have a better mental model of the weak points of your environment. The very very big majority of these attacks will be automated probing for publicly known vulnerabilities or default credentials. That means the maintainers of the software you are running and the channels on which their updates are shipped to you and deployed are very important factors. For software that is not installed from a trusted and well maintained source (e.g. Ubuntus main repository), you want to make extra sure that vulnerabilities are updated. E.g. your deployed docker containers might contain security issues, you can run checks on these with tools like trivy. The same is also true for appliances, in case your router or firewall contains a software vulnerability, how will you be notified and how will the required updates be deployed?