This Project should help https://github.com/NOXCIS/Worm-Hole

Yeah but only WireGuard.

Worm-Hole is an intranet deployment application that allows users to host web other applications on their existing server and be able to securely connect to said web applications without exposing them to the open internet. This is done by utilizing the WireGuard protocol in conjunction with Docker Networks and Containers. Hence applications hosted behind the worm-hole private network need not expose any ports and can only be accessed via a WireGuard connection. Wormhole also acts as a ISP DNS query logging bypass. Wormhole by default is configured to have minimal logging.