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As other's have suggested, I use wireguard to get into these services. One other thing I would suggest though is to setup SSH with external access using port knocking along with SSH keys. That means if your VPN is failing for some reason you can at least diagnose it.
nginx-proxy
I use PiVPN to get into my local network, then I use an nginx reverse proxy so I don’t have to remember ports.
As you said, Wireguard is quite difficult to setup… but I recently found Tailscale and it is an awesome tool to use Wireguard without any difficulties ! It would maybe fit OP’s requirements to reach his server easily from outside his home :) Tailscale Official Website
This installer is excellent. I recently reinstalled Wireguard in under five minutes with it.
Swag = nginx, fail2ban, letsencrypt and sample reverse proxy conf all in one container.
There's Nebula; which is pretty new. It was created by the Slack devs for their own internal use. https://github.com/slackhq/nebula
And there is Tinc; the OG overlay network. I don't have experience with this. Seemed a bit of a pain to setup. https://tinc-vpn.org