Accessing local servers from my Tesla via Wifi

I would like to be able to access some functions of my Home Assistant home automation server and my Teslamate self-hosted server from when my car is parked on my garage or when I'm in front of my house (when I need to open my garage). The problem is that Tesla car are programmed not to connect to private network addresses. I'm using a non-public subnet address with my current router, but I wanted to get your opinion on how to design my network when installing my Firewalla. 1. I know, of course, that I will now be able to access the public hosts corresponding to the address space that I'm using internally. 2. I should set Firewalla so that it allows clients to connect to this subnet internally, but disallows connecting to this address space externally. How should I do that? 3. I have found thay whenever I try to connect to Home Assistant, ot infers that I'm connecting from outside because of my IP address. Maybe ai should set tbe servers on this non-public subnet and the clients in a private subnet. However, would device discovery would across different subnets? For example, would Home assistant see Home Automation new devices added to the network if they are added in a different subnet? If not, is there a workaround for this like using mDNS or so? 4. I know that using a public address in a private network is against the rules. I appreciate all comments that explain me how that expose me or others to security risks, or even how it is not ethical. If there's consequences for me or any other person/entity beyond what I stayed in #1, go for it. You got my attention. Otherwise I'll ignore it. BTW, I already made a risk assessment of logging from the car. I need to control what devices it can connect to. Beyond that, the risk is low.