I’ve been accessing my servers over Yggdrasil for the last few years and I never see it mentioned in self hosting communities, so here you go !
Yggdrasil works over IPv6 and brings encryption at the network interface level (similarly to a VPN). The cool thing is that your IP address is derived from your private key, so when you try to connect to a specific IP, your packets are encrypted so that ONLY the destination server can decrypt it (thus preventing MITM attacks). And as everything is encrypted at the NIC level, you can safely use plain text protocols ;)
How cool is that ?
VPN per sé is a connection between 2 points (Virtual Private Network) so that the remote host can be reachable with a private IP and doesn’t meet this be public;, what you’re talking about is VPN services (ProtonVPN, NordVPN, etc.) that are used to bypass Internet blocks and makes you appear as you are accessing Internet from a different location.