How to establish a p2p connection via UDP protocol without white IPs?

Question

Microcontrollers

Tell me the starting point.
Task: there is an IoT device with access to the Internet and a server with access to the Internet. They don't have white IPs. It is necessary that the device connects to the server via the Internet.
Will P2P help connect device and server? Where should you start digging?

I understand that you need some kind of external server that will receive the device and server ID and connect them?
In general, advice is needed on this issue.

Answer 1

https://ru.wikipedia.org/wiki/STUN