@kawaiipunk I like forward or reverse tunnel instead of VPN, I know thats not what you asked for but it does work and IMO its simpler / easier to reason about because it doesn't require root or modify route tables. Ssh can be used for this in a pinch, I dislike ssh but at least its something that seems we all have to wade thru at some point.
There's lots of software that implements tunnels, I don't have a fave I can recommend as massively improved over ssh.
https://wiki.cyberia.club/hypha/infrastructure_and_operations/reverse-tunnel