I received some good answers in the question What do I need to create my own personal cloud for IoT devices? and one of the things that I understood from there is that I need to "expose" my HUB or GATEWAY to the external internet. The proposed solution for that is port forwarding.
I created this as a separate question because it would be difficult to properly to follow-up just with comments on all the answers, someone could get kind of lost. Also, this information may be useful for somebody with a similar question.
I don't like the idea of having to go to my router configuration and configure the port forwarding because that means that I have to configure a device that in spite of being part of the IoT infrastructure, is not one of "my" devices. It has to be as less disruptive of the already existing home network as possible. Also, I've had instances where I don't know the admin password of a particular router and it has been really difficult to get it.
I'm sure that there is a way around that even if that means having a more powerful IoT HUB maybe running Linux, I just don't know what that could be. It is OK to have a bit more complex HUB if that "alternate" way allows avoiding that port forwarding configuration.
I say that I'm sure there is a way thinking about how applications like team viewer don't need to configure port forwarding.
So the question is, does anyone know a way of "exposing" an IoT embedded device to the external internet in order to access it from anywhere in the world that does not involve port forwarding?