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Some routers have integration with dyndns or noip. You can get a free (disposable) domain. If you do the correct port forwarding to your camera's application server, you can access your camera from outside. However, ensure you are using HTTPS, a strong password, and the server on a non-standard port.
Pro-tip = Run wireguard to access everything securely.
Did you just seriously recommend port forwarding to a NVR login? Even worse with a consumer grade router? With HTTPS,non Standard Port and a strong password as the only security tips?
Please,people,for the love of god: Don't do that. Really. Don't. This is really bad advice,sorry.
Unless you are very very sure that your NVR solution is impecable in terms of security (none are), you are 100% sure you stay up-to-date all the time (including reviewing updates for issues) and have additional measures like fail2ban, IDM/IDS,etc. in place this is a very bad idea. HTTPS is only helping in terms of password transmission/spoofing,which is an unlikely vector here, a non standard port doesn't help one bit here(have a bit of fun with shodan and see yourself) and while a strong password helps it only helps if the auth of the system and the OS below itself is watertight - a hard task.
It is always a bad idea to port forward unless you really really cannot avoid it.
Use a VPN - as you said, wireguard.
I will agree that my advice is bad.
I myself run all my services over wireguard. But I run ssh natively though but with extra hardening (fail2ban/sshkey/no default port/max retries, etc). Plus my IP changes every 24 hours. However, I did learn how to setup online services and this can be a stepping stone.
If one is experimenting, exposing the port is fine (temporarily). But if someone is running a service 24/7 over the internet, and the person does not have any cyber security acumen, wireguard is the clear winner.
Can you make some tutorials for how to?
If you tell me what kind of hardware you have, i can direct you to the correct resource. I have done it for my TPLink router, which has support for noip.com. OpenWRT/OPNSense has dedicated plugins or it's baked-in.