That's not always an option and when it is, setting it up is often more complicated and less secure than using a relay server. Honestly, the fastest (to setup), easiest and most secure option would be ssh server as a tor hidden service. Everything is handled by tor out of the box, .onion domain name, nat hole punching, E2EE, port scanning bots... all taken care of, no need for opening ports, static ip, dns, ddns, fail2ban, worrying that there's a 0 day or that you misconfigured something. No one can exploit you service if nobody knows it exists.