Hello @sean-abbott and welcome to the Cloudron forum
Yes, you can run Cloudron at home, see https://docs.cloudron.io/installation/home-server and https://docs.cloudron.io/installation/intranet.
With the upcoming release of Cloudron 10 we have implemented VPN protection for apps, see: https://forum.cloudron.io/post/126100
That could already provide some relieve to your needs.
There are already many other forum topics about Cloudflare tunnels and similar set-ups as you describe.
@sean-abbott said:
the cloudron admin interface accessible on the internet
That is the default but can be changed with a firewall and VPN app.
Since how this should be done is very dependent on what 'flavor' one admin prefers, Cloudron does not impose one strict route but leaves it open to the admin.