Hello, is ESPrtk with a Tailscale or ZeroTier or any other VPN possible?
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It’s possible if you can install tailscale or zerotier on your wifi router/firewall. Most consumer routers won’t let you do something like that. It’s possible to do on Mikrotik and Ubiquiti routers and firewalls with some manual command-line configuration.
With tailscale, you can configure what networks are reachable at each node. So you’d set it up so that your router or firewall is exporting a path to your home network, and then other vpn nodes (including your phone) can reach any IP address inside your home network.