I learned about boringproxy, rathole and frp via this forum thread, but haven’t tried them yet
I got things somewhat working by having the homeserver and vps both join the same zerotier network, and then using the ynh redirector app on the vps as a reverse proxy pointing to the zerotier ip of the homeserver. I have this working for routing a domain to a docker service running on a particular port on the homeserver, but haven’t figured it out yet for connecting with yunohost services on the homeserver without going into an infinite redirect loop or having a bad gateway error