Client VPN into network?

[Solid-Profession]

Hi,

I have DDNS configured on my firewall atm which really isn't the best way to access my firewall (not an Opnsense appliance)

Then I've got VIPs set up to access other resources, behind the firewall too. I don't have a firewall at this place, nor do I have a static IP
I believe that you can create a VPN with an FQDN

Would it be possible to create a VPN that uses a client to login to it?

That'd be fairly useful, given a lack of firewall on this end

Thanks