Setting up WireGuard is definitely the way to go. I learned a ton about networking doing that. It's a beautifully elegant implementation and actually very easy, but it exposes a lot of networking concepts that are important to understand. Don't use PiVPN and the like, just install it and write the configuration files manually.
I used WG to get two homes talking to each other. A Pi at each end running WG, with static routes set up in the actual routers, and both networks function like one. It was fun to configure, and I learned a fair amount about networking doing it.
Also, using WG to access your network addresses a lot of security concerns. You open up 22, and you're going to get hammered day and night. Assuming you set it up correctly, it shouldn't matter, but there's still always some risk. WG just silently fails if it doesn't receive the proper key. There's literally zero difference (from the client's perspective) between using an incorrect WG key and a machine's simply not existing at that IP address.
And then, once you get WG set up, you can expand stuff like pihole to cover all of your devices wherever you are; just run a split tunnel on the client and route all DNS lookups back to your home.
You likely won't have a static IP residentially, but you have a few options there. In some cases, a business-class connection isn't much more and is better anyway (this especially is true in cities and other areas that actually have competitive markets for ISP). There are plenty of free and paid dynamic DNS services, and setting up one of those on a router or Pi or something is pretty straightforward. Finally, if your IP is _mostly_ unchanging, you can just do the lazy/cheap move (which is what I ended up doing), having a simple script run every hour that checks the IP address and sends me an email and a slack message if it changes. Happens less than once a year, and updating all of the devices that need updating everything takes maybe a half-hour. If it were a weekly or even monthly thing, I'd probably go the DDNS route.