How can I implement "UDP hole punching" in my IoT project?

I have my Raspberry Pi at home running a webpage with Node.JS, with no UPnP or Port Forwarding thing.

Is there a way to implement "UDP hole punching" in my IoT project?

I planning to create a IoT project that just works "Out of the Box"... I thought that creating a VPN could be a solution. What do you guys think?

Thanks cool people.