This is a decent writeup on applying “Zero Tust” principles to a home lab using mostly open source tools. I’m not the author, but thought it was worth sharing.
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That sounds awfully complicated for home use.
Yes and no. The auditing is likely the harder part. You can use something like tailscale or nebula vpn to get the always on vpn/ACLs. With a dozen or two devices, it should be doable at a home scale.
If you want clientless zerotrust then you’re talking heavier duty things like Palo alto gear and the like.