Assume you own example.com, then you can issue a free certificate for *.example.com and use that certificate for all your home services. Using HTTPS in the intranet does have its benefits and eases coding when services require SSL.
If you host vaultwarden.example.com in your intranet, then you don't have to publish the subdomain on a public nameserver; it's enough that your intranet DNS resolver can respond with the local A or AAA record for vaultwarden.example.com and it's covered by the wildcard certificate.