I see many tutorials for local development recommending #tailscale to set up a #VPN infrastructure. OK, this is the quick answer, but... If you have "a small, stable number of Linux servers" #wireguard is more efficient (and still easy to setup) than tailscale, which is itself a layer above wireguard "if you want things to Just Work, you are administering a VPN for many different users, or if you want the extra features". https://tailscale.com/compare/wireguard