And created the firewall rules to forward (some) incoming traffic to my home server.
I guess this is the missing piece for me. I’ve already got all of my devices and VPSes setup with Tailscale, I’m just not sure which software to use that can do this forwarding.
I know Tailscale Funnels, Cloudflare Tunnels, and Caddy could be solutions for some, but in my experience they only do TCP or restrict what sort of traffic can be forwarded.