VPN between multiple sites with dynamic WAN

I’m looking at routerboard as a possible solution but I’ve been unable to find documentation on set up for following scenario. I don’t want to buy them and find out its not possible.

I want to create a VPN between 3 sites with dynamic WAN IP’s and route local LAN across it to create 3 connected LAN’s.

Ive done multiple static tunnels on other hardware but never had to deal with dynamic WAN so this is a bit new. All 3 sites have servers on them with dynamic updated websites. Can i create a tunnel using these domain names vs IP’s as DNS updates on them when their IP’s change.

Network diagram:

I don’t really need the redundant VPN, it could be set up as Site1 server, Site2 & Site3 clients.