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I am searching for a generic reverse tunnel application. Here is what I have in mind: It would consist of an inside (behind nat) and outside part. The "inside" part would try to establish a connection to the "outside" part automatically. The "outside" part could accept connetions and since it has a connection to "inside" it could tunnel all the communication to the "inside" part which in turn could connect to any server behind the nat.

This seems to be such a simple concept, is there an app doing this?

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I believe you are looking for vpn possibly, more specifically a TAP vpn. OpenVPN can do this.

If you only have a few ports you want to forward, ssh works as well with the -R flag and the gateway ports option set.

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That sounds like a VPN to me. Try OpenVPN

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Simplest solution is ssh. Check this link. It's in Polish but you can translate it using Google Translate.

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If you want to do different things on the "outside" and the "inside", then OpenVPN is a good method for gluing the two together.

If you are just port-forwarding, you might just investigate port-forwarding on whatever firewall device is between you and the internet.

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