I'd use a VPN and give your friends the credentials for access to your server(s)
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There’s nothing really private about your ip. Whatever you need to do to secure your network you have to do in any solution for this problem.
I suppose that that's what I'm really after. It would be nice to be able to just give out a domain name or something easier to remember for people besides an IP, but I guess it isn't 100% necessary
What are you expecting them to do with your IP?