It can do exactly what you are asking for. Just search for subnetrouting in the tailscale documentation.
Thats what im doing to access all of my different services ans devices remotly. Without installing it on every device.
It is really easy to setup.
The easiest and quickest way thats still safe is to just use tailscale.
Its a zero config VPN that you can install on all your devices. I've been using it for quite some time now and I'm still fascinated by how easy to use it is.