Connect peers directly

In a private network setup, need to connect nodes directly which are not on the same network. As of now connecting nodes through a relay machine (which has a static ip) which we want to avoid. Is there a way of connecting to other online nodes directly which are not in the same network ?

Thank you

Other than setting up some other method like using a VPN I can’t think of another way. I’m assuming both networks are behind NAT.

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