I'm not sure of the situation in the US, but where I'm at, most of our routers come with a built in integration for dynamic DNS providers, sych as dynDNS. 

You'll probably still need to set up a DMZ, or routing rules, to ensure inbound connections reach the right location within your local network, but it would offset the need to pay for and manage a top level domain.

https://account.dyn.com/  

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