Do you want to share publicly (via a URL for anyone) or privately (accessible only with an endpoint and identity)?
For the former, zrok frontdoor (by https://docs.zrok.io/docs/guides/frontdoor/) protected by OAuth could be the solution. Further, if you want to embed directly in your app, use the SDK - https://blog.openziti.io/the-zrok-sdk. Today we only have for Golang; Python and NodeJS/Javascript coming soon. More in the pipeline.
For the latter, use OpenZiti (which zrok is built on - https://github.com/openziti). We have SDKs in Go, C, Java, NodeJS, Python, and many more.
It's all FOSS under Apache 2.0. I work on the project.
