You could use frp to proxy specific ports to your vps. https://github.com/fatedier/frp

Funny thing, I use Tailscale to tunnel the access, but use cloudflare dns for device adress resolution.

Yes. Both parties have to share the device on which they want to run warpinator out to the tailnet of the other person. If you already use tailscale for other personal stuff I’d recommend you make an additional tailscale account, you can use to connect to other peoples tailnets, as on linux you can simply switch between them with ‘tailscale switch <id>’

I use Warpinator in combination with tailscale