There is a similar discussion going on at !selfhosted@lemmy.world - link to post. I personally use WireGuard to achieve this, which when configured correctly essentially puts your servers inbound/outbound traffic behind another server. Note that this isn't as "private" as a normal VPN, as you are a single user behind a single IP which can be used to track activity from that IP. It does protect your home network from most outside snooping though, again if configured correctly.
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So if I'm understanding that post correctly, I'm looking for something different. I understand how to use VPN to host private internal services. I'd be looking to host a public service, but hide where my servers are located.
I want the world to access my service, but I don't want them to know where my servers are.
My instance https://lemmy.dudeami.win/ is hosted in this manner, but the public IP (45.76.20.112, hosted on a $5 VPS) tunnels public requests to my servers located on my home network. So, the servers running at my house do not expose their public IPs, but the service can still federate and be accessed by the public internet. I think this is what you are going for? It's essentially what Cloudflare does, but self-hosted (via a VPS). Sorry if this is not what you are looking for!
I use cloudflare for the edge caching, if you like more privacy try https://www.quad9.net/
proxies and tunnels are so hot right now.
Nginx Proxy? Cloudflare? Many possibilities