Teamviewer has a Linux version, but I don’t know if there’s an arm version for your rpi included in that “multiarch” denomination.
I don’t think there’s an equivalent to that software for the moment.
I’m using a trick to get the same NAT/Firewall traversal capability to do remote admin on computers for my family but it’s not trivial to set up.
You need:
- A dedicated server (or VPS) with a static IP
- An OpenVPN server running on that server
- Credentials to your VPN for the target machines you want to administer and the machine you’re doing the admin from (source)
- OpenSSH server on the target machine
- Vino on the target machine set to listen on loopback interface (lo) and not ask confirmation and no password
- Remmina on the source machine set to connect to the target using its IP in the VPN, and tunneling the connection through an SSH tunnel