The tribal knowledge seems to be that you shouldn't do TCP-based hole punching because it's harder than UDP. The author acknowledges this:
> You can do NAT traversal with TCP, but it adds another layer of complexity to an already quite complex problem, and may even require kernel customizations depending on how deep you want to go.
However, I only see marginally added complexity (given the already complex UDP flows). IMO this complexity doesn't justify discarding TCP hole punching altogether. In the article you could replace raw UDP packets to initiate a connection with TCP SYN packets plus support for "simultaneous open" [0].
This is especially true if networks block UDP traffic which is also acknowledged:
> For example, we’ve observed that the UC Berkeley guest Wi-Fi blocks all outbound UDP except for DNS traffic.
My point is that many articles gloss over TCP hole punching with the excuse of being harder than UDP while I would argue that it's almost equally feasible with marginal added complexity.
[0] https://ttcplinux.sourceforge.net/documents/one/tcpstate/tcp...