Use VPN or DDNS connected to your domain registrar. Of course DDNS might not update immediately, especially if your domain host is not the same as your DNS provider, so you might have outages for short periods when your IP changes. So, depends on if you're OK with that or what kind of connection you have and whether it changes your IP a lot.
Also, might be able to get an IPv6 address for free depending on your ISP or at least you can set up your router to request that your address block is retained for you. I know Comcast does this. Unfortunately, my ISP does not.