You’re just describing a dozen different things that fit this mold, so let me throw some out there and you can decide what does what you want:
SOCKS
STUN
Haproxy
Reverse Proxy
These all do what you want if you’re taking the steps to automate pointing to them from whatever your destination endpoint might be. So then you’re basically NOT using a VPN, and only a proxy.
Honestly, I’d just install OpenWRT on the Pi and try out different plugins to find what does what you want. You can honestly simplify this all by using Dynamic DNS in the first place to just have a predictable hostname.
You’re just describing a dozen different things that fit this mold, so let me throw some out there and you can decide what does what you want:
These all do what you want if you’re taking the steps to automate pointing to them from whatever your destination endpoint might be. So then you’re basically NOT using a VPN, and only a proxy.
Honestly, I’d just install OpenWRT on the Pi and try out different plugins to find what does what you want. You can honestly simplify this all by using Dynamic DNS in the first place to just have a predictable hostname.