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You can use something like https://ngrok.com/ to expose a local SSH server.

Perfect, thanks! Will check it out.

Gravitational Teleport[0] is exactly what you've just imagined.

I set up the free version a few month ago. if that suffices, its really neat.

if it doesn't... the paid version probably still won't be an option, because it's silly expensive.

[0] https://github.com/gravitational/teleport

Perfect, thanks! Will check it out.

They are exploring making it work over webrtc which would support such a use case (although you'd still need a signaling server to setup the initial connection)

You could give zero-tier a go. It supports that case and asked you to build a whole network, not just tunnel ssh.

"Easiest" way I can think of is to both connect them to an externally visible VPN server. This can be an Amazon micro instance or even a raspberry pi.