Could you get a different router as others have said? It would certainly give you more options.

I use a ubiquiti edgerouter lite and use either wireguard or the built in l2pp vpn, both on the router itself.

I’ve used Foscam/Amcrest wifi cams on their own vlan with no outside access with zoneminder for years.

I have it setup to record 30 seconds of motion to my local drive.

For outside access I just vpn in. They are tied to my Homeassistant but can be viewed many different, all free and no cloud access, ways.

Any questions just ask.