Is there a tutorial you recommend?
Nope. VPN and SSH achieve different things. VPN will give you access to the remote network. SSH will give you access to the remote host. If you only want to admin the remote system SSH is enough and 99% easier to setup than a VPN server. Both expose services to the Internet which creates a risk; but LE is generally using very recent versions of SSH binaries which mitigates the risk of known vulnerabilities. You need to use SSH key auth to expose logins securely else the login process will be targetted with dictionary attacks. Ensure you only expose SSH and not all ports (else SMB and Kodi services are exposed too).
There are a millions of "how to use SSH key authentication" guides .. read a few and you'll see the repetition/process.