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This works through websockets. So if you (the client) can access this website, you can RDP to your machines.

Just so you know, it doesn't require websockets. There is a HTTP tunnel fall back (at least there was one when I worked with guac).

Quick search seems to suggest the HTTP fallback persists: https://glyptodon.org/jira/browse/GUAC-1474

But how does it work if I can't normally RDP to my computer due to NAT router?

ngrok.com (freemium) or https://github.com/mmatczuk/go-http-tunnel (open source, needs some afford, very fast and easy configurable)

btw. @op go-http-tunnel would provides you with great base for a "branded" ngrok like client for your users.

Thanks for the link. I have been planning on doing this since most people don’t keep their machines with public IP.