I setup a dns remote access tunnel to my Raspberry Pi running Home Assistant. When I’m on my home network, I can access my esp32 running its own web server DIRECTLY. Remotely, I can go through Home Assistant and use my esp32 in an automation, but I want to access the web page my esp makes Remotely. Anyone know tge best way to do this?
You might want to explain your exact setup in more detail. 
By the looks of it your remote access is limited to the HA server and the rest of your network isn’t exposed - hence you can’t access any other machine than HA itself 
That’s very relative. Depending on your needs and possibilities. For example if your router can handle wireguard vpn that could be a good way of accessing your local are network 
a " dns remote access tunnel"
i don’t know what is that.
maybe you own a domain, then you add its record to a public dns server, and made a vpn tunel to your server ?
without vpn:
- You can’t embed sites using HTTP if you are using HTTPS for your Home Assistant.
- setup a reverse proxy to direct acces your esp32 http with https
or - open port in the router to use directly http://ip (poor security)
with vpn:
it 's should be as a local connection .