ZeroTier

ZeroTier is a "it just works" method of an overlay network that can be used for accessing remote devices. You can think of ZeroTier as an alternative to Wireguard, OpenVPN, and IPSEC VPNs.

Limitations

It's important to note that over the years, ZeroTier has slowly become "enshittified". You used to have 100 devices, then it was reduced to 50, now it's 10. There are ways around this, such as hosting your own ZeroTier controller.