Remote access to service in internal network. VPN?

So here is the deal, I have a service in my internal network which I access through my internal reverse proxy (nginx) through a subdomain (service.internaldomain.lan). I would like to access this service from a remote server so it can report back some data. This server is not under my direct control but I have full SSH access to it.

My first idea was to use a VPN, but that poses a threat because if the remote server was compromised a hacker could get access to the VPN keys and therefore have access to my internal network, which is a nono.

I also dont want to expose the service to the web cause I dont want to create more subdomains than necessary in my public facing domain.

The ideal solution is a VPN connection that can ONLY access the service that I want, so in case of a hacker getting access it would only be able to access this service and not my entire network.

I haveā€™nt used VPN much but I see they are very popular here, so I ask which is the best solution to this problem, and if the answer is in fact using a VPN, which VPN software can I use to obtain the desired result. Thanks!

Put the local server in a different VLAN

Learn to read and scroll slightly down the pages of Reddit.

I thought of that as a possible solution but I dont have a managed switch. The more I think about it the more i reach the conclusion that I need a way more advanced network setup than I am willing to pay for (at least for the moment).

This would be easier with switches and firewalls.