How to user/make own NGROC(Local Tunnel) alternative on my own server

I have a small ubuntu server online and a domain name x.com lets say and x.com is pointed to my online server, so at home, I have these powerful PC that can serve as a server. What I wanted to do is that the small server I have online points to my powerful home pc/server as ngroc does (Indirectly access x.com n the home server). So, in ngroc case, every request goes ngrocs server and this can have security issues … but this time I wanted to install a service or something like that… on the online server and the home server so that they only handle the pointing(tunneling) and stuff without a third party server