HA access from local network

I have few HA servers running at home on multiple locations without public IP address or possibility to have port forwarding, I was wondering if possible to access them using revers proxy that I do have available on public IP address, I’m trying to avoid having any VPN client installed on devices and using Nabu Casa

this still looks like the solution you refereed to needs vpn client, right?

There are many solutions recommended in that thread. Some need a client, some do not. Pick what works for you.