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Selfhosted
A place to share alternatives to popular online services that can be self-hosted without giving up privacy or locking you into a service you don't control.
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I'd go for HLS due to its simplicity: just files over http(s). VPN or not - depends on your network. If your machine is accessible from the internet, just putting the files into a webserver subdirectory with a long random path and using https will be secure enough for the usecase. Can be done with an ffmpeg oneliner.
The downside of HLS is the lag (practically -- 10s or more, maybe 5 if you squeeze it hard). It is in no way realtime. Webrtc does it better (and other things too), but it is also a bigger pain to set up and forward.
Also, just in case, test that the webcam works fine if left active 24/7. I had (a cheapo) one that required a powercycle after a week or so...