WireGuard Setup for Home & Travel

I’ve got two routers that already expose WireGuard in their firmware menus (that’s why I selected “Wireguard” when asked about both the device type and the travel-router OS). What I’m missing is a clean, battle-tested configuration that lets me reach my home LAN securely whenever I’m on the road... (Budget: $25 - $90 CAD, Jobs: Firewall, Internet Security, Linux, Network Administration, Network Security, System Admin, VPN, Windows Server)