I thought this was a pretty good explanation for why ipv6 makes things easier on a home lan

I think the best way to do this is to setup a Wireguard VPN server on the router itself or on a machine in the LAN. The router firewall will block everything inbound(tcp/udp) except to the inbound VPN udp/IP/port.

Then on the client side you setup a Wireguard client that connects to your Wireguard server remotely and access the LAN resources from there.