For publicly accessible services, look into Cloudflare Tunnels. For private or restricted access services, add a Cloudflare Application to the Tunnel. The Tunnel provides a VPN connection without exposing ports on your router, and the Application provides authentication for access.
For restricted access, I add a Cloudflare Application in front of the Tunnel to provide authentication. Work’s like a charm, and the user never hits my services unless they successfully authenticate.