Js-ipfs Connect two Node.js instances with swarm.connect()

I’m running two IPFS instances in a Node.js server that I both control and both of them are behind a NAT.

[Node.js] <-----> [Node.js]

The IPFS config looks like this on both sides

this.ipfs = await create({
relay: { enabled: true, hop: { enabled: true, active: true } },
repo: “./ipfs”,
EXPERIMENTAL: { pubsub: true,},
});

When I start the server I get

Swarm listening on /ip4/127.0.0.1/tcp/4002/p2p/12D3KooWBTvjVVoCRCwxzzVGSBhdHJGkupYmGJGCq4kjfr4zJC1s
Swarm listening on /ip4/192.168.178.95/tcp/4002/p2p/12D3KooWBTvjVVoCRCwxzzVGSBhdHJGkupYmGJGCq4kjfr4zJC1s
Swarm listening on /ip4/127.0.0.1/tcp/4003/ws/p2p/12D3KooWBTvjVVoCRCwxzzVGSBhdHJGkupYmGJGCq4kjfr4zJC1s

I have not been able to connect the two nodes via

swarm.connect(multiaddr)

Can someone give me detailed instructions how I have to configure both nodes so that they can connect to each other?