Yes, the easiest way to do this is buying 2 routers that support a VPN server and a VPN client. Any OpenWRT capable router should be able to do this for you, gl-inet built a business by selling routers with custom OpenWRT-based firmware with a streamlined UI for exactly this: you log-in go to the tab for configuring the OpenVPN/Wireguard server/client and you have yourself a private tunnel.