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I believe libp2p has some NAT traversal stuff: https://docs.libp2p.io/concepts/nat/

https://github.com/hyprspace/hyprspace is built on top of that. It's remarkably simple: libp2p's DHT + libp2p's NAT punching + TUN device.

I don't think it offers authn/authz, but that's fine: neither does my ISP. I just want SSH reachability.