There is an alternative to using port forwarding and that is a proxy.
An example is
https://www.zerotier.com/
But remember this is also a security threat as the function is a "Man in the middle" (
https://en.wikipedia.org/wiki/Man-in-the-middle_attack).
So you need to make a risk assessment and also make a risk assessment for your neighbouring devices on the same network as they can be exposed.