Wireguard! And a VPS and HAProxy. You can use Wireguard to do remote port forwarding. Follow a tutorial [0] to expose the home server's port on a VPS. Now use HAProxy to reverse proxy that Wireguard port to the world.

[0]: https://staaldraad.github.io/2017/04/17/nat-to-nat-with-wire... - you can ignore 'NAT-B' in this one.