Can you P2P proxy + access controll?

Sup,

Is something like this possible in a secure way? Is there reliable enough, already made software out there to achieve this? Would you recommend this path, or do you have a better idea?

Background / Resoning:

I currently use Tailscale to connect to my services, but I can't share my pictures this way with friends or family. A Cloudflare tunnel is also not ideal, since all the media would need to be streamed through them (usage limits and privacy). Finally, I don't want to expose any part of my LAN publicly, since my router didn't get updates in 5y and I don't know enough, except blocking all incoming traffic is pretty safe.

I got a raspberry left over and own a domain. I would place the Raspberry in front of my LAN.