Any way access private and secure network remotely?

I have a home network setup with its own infrastructure, along with several servers in data centers for VPN, backup, and other purposes. I'm looking to create a secure network between them that allows me to access any of the servers from any internet connection. I also want to connect my personal devices (like my laptop and mobile phone) as peers and use some of the servers as exit nodes. I've tried services like Tailscale , Netbird , and Twingate , but some of my servers are in regions with geo-restricted networks, which prevents them from establishing the initial connection to these services

Question by Mohsen on Super User, licensed CC BY-SA. We show a short excerpt and link to the original thread as credit.