A place to share alternatives to popular online services that can be self-hosted without giving up privacy or locking you into a service you don't control.
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Not sure I fully understand your question or goal but you might benefit from setting up NAT reflection for your public stuff so when you are inside your nat you can still access everything with your external domain name like you are on the Internet. I see some people referencing split DNS also and that goes along with nat reflection.
https://docs.netgate.com/pfsense/en/latest/nat/reflection.html
There is a link to how you set it all up using pfsense.
Not sure if I completely understand but I think you want public service 1 accessible on subdomains s1.domain.com and internal service 2 on s2.domain.com?
Just point the A record for s2 to an internal ip address (or a tailscale ip). The only thing dns does is translate a (sub)domain to an ip address. So outside of your network s2.domain.com wouldn't resolve but inside your network it would.
Before I write a book. What are you using internally and externally for dns?
Edit: misunderstood what OP wanted to do, leaving this here in case it's interesting to anyone.
Sounds like what you are tyring to do is called Split Horizon DNS.
Requests from outside your network should resolve server.domain.com to the public IP, but requests from inside your network should resolve it to the private IP.
If that's what it is then you register the public IP with your nameservers. You also run a DNS service internally which you point all your computers at (likely by putting it as the DNS server in your networks DHCP settings). That DNS server is set up to return the private ip addresses for all your servers, and to forward any other requests to some external DNS like 1.1.1.1
I'm not sure what your use case or for needing to use the internal IP address from inside the network, but it might be to avoid traffic exiting your network just to be sent back in? Or you me a that you want external requests to go to one server and internal to go to another server? I'm which case the set up above still works, but on just use the appropriate IP addresses in the appropriate places.
This can be done easily on pihole and Adguard using the DNS alias feature.
Everyone is suggesting cloud flare tunnels which can be easy to use but locks you into a proprietary service. If you want to self host everything, you can set it up yourself with a reverse proxy like traefik
You will end up with service.local.domain.com and service.domain.com for local only apps and internet facing apps, all using HTTPS.
If you are familiar with traefik, watch a tutorial on that first, then come back and watch the above video.
Here is an alternative Piped link(s): https://piped.video/liV3c9m_OX8
Piped is a privacy-respecting open-source alternative frontend to YouTube.
I'm open-source, check me out at GitHub.