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Connecting to my home server through intermediary server

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I'm trying to set up a server at my home using an old PC to reap benefits of it's resources, but my ISP unfortunately blocks me from exposing my network. I have another server I was trying to use an intermediary server, but have not been able to set it up.

What I would like to do:

Client --> remote server(aka Server A) --> home server(aka Server B)

I'm open to any suggestions on how I can achieve this, I'd like to use some services on my home network, be able to connect to VPN of B to be able to stream things with my home IP (for home sharing restricted applications).

To access B(final dest) from A, I connected B over VPN to A with vpn server running on A (using 1194, openvpn), then an nginx reverse proxy to forward 1195 from A to B (split tunneled by using "use this connection for resources only on its network"), then installed openvpn server on B, however this broke something and B became inaccessible from A. I installed a different VPN server (wireguard) and although this connected, I was unable to access internet.

I'm currently thinking of removing this set up, and using an ssh tunnel to connect B to A (like forward ports 1195 on both going from B-->A since A is inaccessible without this) then run a VPN server on B and connect to it A using the ssh tunnel. With this method, would it still be possible to connect A-->B over VPN so for any problems (reboot, internet loss and regain, ssh tunnel broken) I still have B locally accessible from A to configure?

Would really like your opinion on how I can do this. I would like to keep third party usage to a minimum (like cloudflared) unless absolutely necessary.

Please let me know if you would like to see any config from anywhere.

TIA!


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