You've got to be running an OpenVPN server.
I'm running a pfSense firewall, and it has an option for setting up an OpenVPN server. I also have a TrueNAS system that also has the option of ruining an OpenVPN server. The point here, is that the software for running an OpenVPN server is diverse and flexible. Additionally, I have mine configured to not require a username or password, instead of checks for an authorized TLS certificate.
Really handy.
I traveled to the Midwest for Christmas and brought my laptop. It was really nice being able to connect the VPN and then have access to my local network, all the way from South Dakota!
Thanks,
Alexander
Sent from my Samsung Galaxy S22+