I’ve been accessing my servers over Yggdrasil for the last few years and I never see it mentioned in self hosting communities, so here you go !
Yggdrasil works over IPv6 and brings encryption at the network interface level (similarly to a VPN). The cool thing is that your IP address is derived from your private key, so when you try to connect to a specific IP, your packets are encrypted so that ONLY the destination server can decrypt it (thus preventing MITM attacks). And as everything is encrypted at the NIC level, you can safely use plain text protocols ;)
How cool is that ?
No static IP required ! I use it on my phone over LTE and it works great. Same goes for the NAT, I use it at work to where my laptop sits behind a NAT and I don’t have any issue.
From my understanding by reading the website, if non of your devices have a static IPv6 address, you need to add a public node, is that true?