I'd advise to use headscale on a vps somewhere. Its tailscale but selfhosted.
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Not OP, but thanks for sharing about headscale. I wasn't aware this existed. Probably won't make a switch to it anytime soon, personally. I have way too much connected on tailscale right now.
Another thing is if where you want to access it from has a IPv6 then you can just connect via IPv6.
Tailscale or zerotier or a similar tool is the right one for the job.
I’ve gotten decent results with NAT traversal tricks, but the only way I’ve gotten it to perform reliably is with a relay fall back.
This is exactly what you get with tailscale.
You need to expose the ports you want to access on an external, publicly accessible server like a cheap vps. Then you can use wireguard to forward the traffic to your Pi.
I haven't done it in a long while, so I can't explain it well enough, try searching for "vps wireguard gateway". That should bring up some blog posts that will explain the process better. I used a VPS I got on the AWS free tier, you really don't need anything expensive.
Just get VPS and use it to bounce traffic between nodes.