How to redirect an external request to a VPS server to a home server with a dynamic IP?

Question

Computer networks

There is a router with a dynamic IP address, in its local network there is some kind of server. There is also a VPS with a static IP.
How can you set up this whole chain so that when you access the VPS, it gets to the home server? Ideally, you should also have a DNS name without a 3rd level domain.
I don’t know much about network technologies, I hope I didn’t write some kind of nonsense.

Answer 1

vpn do

Answer 2

set up ddns for a dynamic IP
and simply set up a proxy for it in nginx by name

Answer 3

Zerotier