I just use a WireGuard tunnel between my OPNsense router and a VPC instance. Currently using the tiniest t4g AWS instance but it doesn't much matter what the upstream machine is, as long as it has a public IP. WireGuard is easy and I'm not so reliant on a 3rd party service.

I think this is the most popular GH: https://github.com/anderspitman/awesome-tunneling. There are tunneling tools written in Go, Rust, Python, Node, PHP, Java, .NET, and C. Some use SSH, some WireGuard, some WebSockets, some QUIC, some roll their own protocol. Many are single-maintainer projects with bursts of commits followed by silence.

ngrok owns the space, allows you to actually put protections in place for your tunnel. Really popular for site-to-site vpn replacement and remote access for devices. They have static domains on free now. Tunnels no longer time out.

Cloudflare has a tunnel product, if you're already using their DNS.

Many of the IDEs have tunnels now too

ngrok is popular. but in my opinion localtunnel is far better. few commands and your server is live

Pitchfork, pickaxe, spear...