I use a cheap public VPS and Wireguard and it works over my ISP connection at home. My servers run here at home but are only publicly visible at my VPS public ISP address. Is that the same as what you're asking for with 'NAT traversal'?

If so, the config is straightforward for techies, just Wireguard config, it routes into my home server and I use Apache Reverse Proxy to route to the backend services.