The implementation really isn't going to be any different from a corporate network outside of how you authenticate and the agent options that you leave enabled. Something like a home VPN you'll likely make it on-demand, stay with a simple local authentication profile unless you already have a user directory built as part of your home lab, and you are unlikely to disable really any of the agent options.
Obviously how you actually implement this is up to you and depends on your actual use-case. Where I wouldn't see a need to configure an always-on pre-logon enabled connection for my personal devices, that may be something that you actually desire.
You'll likely need to look at a dynamic DNS service as @upelister mentioned to ensure that you don't have to constantly modify IP addresses and you can actually properly take care of the certificate side of things.
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