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If you control both sides of the connection, ZeroTier is probably a more efficient "NAT-busting E2E-encrypted overlay network" solution than anything Tor-based.

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Being able to embed the Tor daemon right into my program, and still using an existing Tor daemon if available, is pretty pretty compelling.

Well, it can't bust NAT444 on both sides :) I've had to set up a moon on a VPS in my city, and now it's great.

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