ROS 2 on Multiple Remote Machines

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Hello! I was wondering if there is a way to have different ROS 2 processes running on machines belonging to different networks, and if its implementation is a bit more straightforward than it is with ROS 1 (Port Forwarding). The idea is to have a mobile robot (Jetson Xavier NX) with a 4G module receiving and sending messages from/to a home station (Raspberry Pi) in another local network. I already managed to do this through the implementation of a VPN, but I was wondering if it was possible to do the same without the need of the VPN. Thanks in advance!