I've been working for a while on https://github.com/connet-dev/connet. It gives a different twist at the same problem - instead of an overlay network at L4 (wireguard, etc) or publicly accessible endpoint at L7 (like ngrok) it "projects" a remote endpoint locally (e.g. as if you are running the service on your computer). Of course "locally" can always be a VPS that has caddy in front to give you ngrok-like experience.
The reason connet exists is that nothing (at the time I started, including netbird, tailscale/headscale, frp, rathole, etc) gave the same easy to understand, FOSS, self-hosted, direct peer-to-peer way of remote access to your resources. I believe it does accomplish this and it is self-hosted. And while a cloud deployment at https://connet.dev exists, it is nothing more then repackaging the FOSS project with user/token management.
The reason connet exists is that nothing (at the time I started, including netbird, tailscale/headscale, frp, rathole, etc) gave the same easy to understand, FOSS, self-hosted, direct peer-to-peer way of remote access to your resources. I believe it does accomplish this and it is self-hosted. And while a cloud deployment at https://connet.dev exists, it is nothing more then repackaging the FOSS project with user/token management.