Tailscale. Download it and you'll be up and running in 5 minutes.
Don't use cloudflare tunnels unless you plan on opening it up to the public. Then you can go that route.
Sorry for the questions, how do I know which Tailnet IP to use? Each device seems to get a different address and a I tested a couple and neither worked
A tutorial I watched used 192.168.3.0/24. I tested this and it didn't give me any errors and it connected to tailscale, but I couldn't actually access things remotely
Trust me, you don't want to get instructions from me. Just look at my post/comment history haha everything I touch breaks in ways that are hard to diagnose. I had to reach out to tech support, they got back to me in <12hrs
For restricted access, I add a Cloudflare Application in front of the Tunnel to provide authentication. Work's like a charm, and the user never hits my services unless they successfully authenticate.
True, but then Tailscale needs to be installed on the remote device to connect. A Cloudflare Tunnel and Application can be accessed by pretty much any device. This was more appropriate for my use case. YMMV, of course.