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What are the techniques to SSH into a machine which is behind NAT and at least not forwarding SSH ports, perhaps behind a firewall?

What I've come across is teleport, but I'm not quite sure that it's the best approach -- doesn't seem to be a package for it. Rather than SSH into the remote machine, would want the inverse, that the remote machine issues an "invite" to SSH.

Looking for technically easy and simple, not necessarily best or most secure practice. Ideally the "invite" would persist so the the local machine can initiate the reverse SSH tunnel at any time.

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