Comment by Aperocky

bepr: https://github.com/Aperocky/bepr. This allow shell access to your hosts behind NAT/Wifi with a server over outbound websocket, all by using the exact same package for client + server + user. Minimal footprint at 2mb binary size and wrapped as systemd/launchd service.

Made it to access my setup at home while I travel, without exposing any hosts. I'm aware there are other solutions, but this one you can control end to end at some setup cost.