How can I connect to my Raspberry Pi console without VPN or port forwarding?

Since you mentioned the Raspberry Pi, have you tried using Raspberry Pi Connect? It's a lightweight option that might suit your needs.

Another option is to enroll your Pi in Azure Arc. This way, you can connect remotely using `az ssh` commands or even just `ssh hostname`, allowing for convenient access from anywhere!

SSH might just be the way to go, even if it’s not the most recommended approach. If you’re avoiding VPNs and want to keep things straight with no third-party, it’s probably your best bet. Just make sure to implement good security measures—use key-based auth, keep only necessary services running, and stay updated on security practices. Oh, and definitely set up backups!

To be honest, achieving what you want might be tough. TeamViewer relies on a third-party server to connect your devices, so without some kind of external broker, you're limited. If you’re okay with running some proprietary software, you can explore that. Otherwise, setting up your own VPS and using reverse SSH could also work, but it requires more setup on your part.

Don't forget about classic solutions like PuTTY—it’s been around forever. You can also find various tools on GitHub if you're looking for alternatives. But hey, sometimes the terminal is just enough and pretty straightforward too!

If you're feeling adventurous, consider setting up an autossh connection to a cloud VM using just SSH keys. Then, connect to the Pi through that VM using a jump command. The cloud VM will serve as your gateway. You might need to set up a port redirect to access the Raspberry Pi directly from there.

If you're in control of the device you're connecting from, think about using reverse shells. With tools like netcat, you could set up SSH relatively easily, although it might be a little hacky. If you're facing NAT issues on both ends, though, finding a solution might be tricky as there aren't many pure SSH relay services out there.