I have dynamic IP and there are several ways around it. I use Cloudflared (updates DNS records regularly) and a script I found to update duck DNS as a backup. Both very simple.
Accessing the services is not the problem, the problem is keeping them safe. I've tried lots of different ways (although not tailscale yet) and have a few services exposed directly to the internet behind authentik \ NPM \ Cloudflare \ fail2ban \ ufw. Others, I access through my router openvpn server, with keys for my laptop and phone as clients. There are so many guides online for all VPN types. Its just finding the right approach between ease of use vs safety