That’s what pangolin is. Your users don’t need to use anything special. The VPN is used internally to connect your server and the VPS. It’s not actually public facing. For the enduser it’s the same as if you used cloudflare tunnels.
One word of warning if you choose to go with Cloudflare: Using their tunnels for streaming video is technically against their TOS. It’s not really enforced most of the time, but you might run into problems, if you plan on really high usage.
An alternative service is Netbird. Open Source, based in Germany and as far as I know they don’t have this limitation
Happy to help. One further point of clarification: Netbird traditionally was a VPN solution that required client software on the end user device, that’s what you were thinking of presumably. However they recently-ish expanded into offering reverse proxy services as well: https://docs.netbird.io/manage/reverse-proxy
So if you are looking for a cloudflare tunnels alternative and don’t want to go the fully selfhosted route, then Netbird can do that. I can’t speak to it’s reliability though, because I run a selfhosted Pangolin for my setup, and Netbird themselves mention that the feature is currently still in beta.