VPNCloud seems to only do UDP hole punching and doesn't have the ability to relay via a third party. At least in theory, ZeroTier should handle cases that VPNCloud doesn't.
I think you're correct. Thanks. My information was from an old blog post from 2014 [1] but they seems to have added support since then: https://github.com/zerotier/ZeroTierOne/commit/bf193dd3. Edited my post.
[1] https://www.zerotier.com/2014/08/25/the-state-of-nat-travers...
Hence it's not possible for almost all to involve a NAT, even if all IPv4 traffic would.
For regular nodes behind a single NAT I've personally found it worked remarkable well. Maybe I've been lucky on UPnP support with routers or something though.
I haven't run into any ZeroTier issues in this config.