I consider myself relatively technical as a software engineer, but networking isn't my forte. I still don't understand the documentation about bringing in my other devices that don't have clients. I'd like to be able to have access to homekit while out and about on 5g for example - via tailscale.
Set up a tailscale subnet router on your home network, it can share access to clients not running tailscale. I've used that to access a bluetooth router that I didn't install tailscale on.
sudo tailscale up --advertise-routes=10.0.0.0/24,10.0.1.0/24
Then you can get to anything via it's internal IP address. I have a bluetooth router on my network that I don't want to install Tailscale on. It's on a permanent address of 192.168.1.13
I do this on the router inside my office subnet:
sudo tailscale up --advertise-routes=192.168.1.0/24
I do this on my home debian machine (lets say it's on 10.1.1.13):
sudo tailscale up --accept-routes
From my home network I can now open the web management page on 192.168.1.13. You can go further with DNS stuff but you don't have to.