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I do the same with tailscale, which has a nice friendly UI for setting everything up.

I setup some Cloudflare DNS records to the tail scale 100.x IPs to make them easy to remember.

I use tailscale's DNS feature and run my own DNS server. That way I can have a subset of my services available on the internet via CF tunnels and when I connect to tailscale I get all of them directly, and I can use the same domain names

Some ISP DNS servers will not return internal IPs, Verizon FiOS and 172.x specifically.

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