Yes and no. The auditing is likely the harder part. You can use something like tailscale or nebula vpn to get the always on vpn/ACLs. With a dozen or two devices, it should be doable at a home scale.
If you want clientless zerotrust then you’re talking heavier duty things like Palo alto gear and the like.
I read it more like they did well, but after a decade making the same game in a couple of iterations, they just want to be done. So sell the company, make 10x what you could running it, and just head on out.