To me "P2P with no servers" implies something like Kademlia that truly require no central servers after bootstrapping, although it is immediately obvious that they don't mean this when there's no details about the protocol presented prominently.
Even in p2p implementations that use kademlia, you need a way to figure out hole punching. In IPFS, while there is a decentralised hole punching method as an alternative to a centralised STUN server, it requires atleast one participant to not be behind a NAT, so for this purpose it's besides the point.