Not quite what you are asking but you may want to look into tailscale. It provides a greatly simplified way of setting up wire guard and has graphical controls. The free tier is more than sufficient for me (up to 3 users) so hopefully it works for you to.
Either you need to expose those two services to the Internet or use a VPN. You mention vpns are inconvenient but have you checked out tailscale? The free account does your needs and it’s by far the easiest one I have set up. You can also look into a cloudflare tunnel but you would need a domain name for that