For people who can’t or don’t want to run a VPN app, Tailscale has the Funnel feature, which can… Funnel traffic into your Tailscale net.

I’ve only used it for light stuff so not sure how well it will work for video.

There are other Mesh VPN solutions out there - I’ve used Hamachi for close to 20 years on Windows, and it just works. There’s a Linux client too, though I haven’t worked with it in years.

Alternatively, you can setup a Raspberry Pi just for the Tailscale/Wireguard VPN, for say at your parents/friends houses. Cheap, simple solution, and it’ll handle DNS for the devices in the Tailscale mesh.