First I’ve heard of this, so it allows us to basically forward outside traffic to our home server?

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it basically creates your encrypted home network with all the devices it's installed on. so instead of going to 192.168.... you will have an address 172.29... for you home node or something similar

Cool so it will expose a public IP that will route to my home server?

That’s seems really nice

no, it won't be public, only accessible from devices which have zerotier installed. something like lan. tailscale is a similar solution, maybe you heard of it