I VPN to my pfsense firewall and there are a bunch of guides about how to set up OpenVPN or WireGuard for pfsense. Ultimately, it's going to be dependent on the configuration of your home network - you can set up a VPN tunnel to your router if it supports that feature, or you can use an always-on device on your network to serve as a VPN server. Happy to give tips to point you in the right direction, depending on what hardware you're running!
I've used mine as a bridge to my home network if I want to access it from work. Use my phone as a hotspot, wireguard VPN from my phone to home network, then connect my work laptop to my phone's hotspot.
I already use cloudflared to expose a couple of hosted services that I commonly access remotely, but it's nice to know I can use my phone/VPN as a quick way to get to my entire home network from any computer, without the network being publicly exposed 99.9% of the time