Yup, and it's easy to make server and client side tooling use Tor to make this mostly transparent. Latency/bandwidth isn't _that_ bad when communicating with an onion service. And it can be even faster if server anonymity isn't a goal (server set HiddenServiceSingleHopMode and HiddenServiceNonAnonymousMode and create ephemerial onion service with NonAnonymous).

I use Tor plenty to self-host services from my house that are reachable anywhere (and often have a web interface I can access via Orbot). No hole-punching necessary.