Remote Data Transfer using TCP

Hi everyone, hope you are having a good day.

I am currently using a python script to create a local server and then send commands over TCP to an ESP32 microcontroller (acting as a client). The ESP32 then reads ADC data and sends data back to the PC Server.

This works great on a local network, but I am stuck on how to do this remotely i.e. over internet. I have looked into port forwarding and VPN tunnelling but unsure how to implement this and whether there is a simpler solution.

Any suggestions on a simple approach would be greatly appreciated,

Thank you,
Will