Tailscale (https://tailscale.com) is a great solution for this use-case. It's also just an absolutely excellent experience overall and I can't say enough nice things about it.
Can be used for the same, but serve kind of a different usecase.
Tailscale scan your host for all open ports and open a WireGuard connection between the installed machines. Like every machine is on the same network, even if they are not. Way harder to have a good access control compared to plain SSH. And you don't need extra SW for just SSH.
This article is specifically about using cloudflared to implement a tunnel without exposing anything to the public internet, which is definitionally extra software. Agreed however that Tailscale offers a much wider feature set—while also covering the basic "I want to access my machine from anywhere" use-case—at the cost of exposing an entire machine instead of a single port.
