Teamviewer vpn alternatives

I have a pi and a pc, both connected to the Internet but not visible to it. Normally I would use TeamViewer to connect both and use the vpn feature to get a Bridge. Now my Problem is that Raspbian teamviewer don't has the vpn feature. I found many other vpn's with this feature but the Problem is that I don't want to be visible to the Internet and because of that cant directly connect to a IP address. Also the IP addresses are changing so the Connection over a Code via TeamViewer was perfect. I there any other vpn service that does this kind of vpn that TeamViewer has? (Like from)