You can use the MikroTik Back-To-Home (BTH) via iPhone BTH or Windows/MacOS WireGuard client as you have showed.
If you find the response the slow, you can try another method using a public IP server. Please take a look at the following site:
http://forum.mikrotik.com/t/private-ip-can-be-accessed-by-public-ip-via-wireguard/182225/1