Apple Remote Desktop over internet "without" port forwarding Is it possible using Apple Remote Desktop to connect to computers over the internet (so different networks) ** without ** having to tweak the router settings of those devices? 

PS currently using both Mojave and Catalina
Unfortunately, not any more. It used to be possible using Back to my Mac, which was abandoned at Mojave.

See Does Apple Remote Desktop connect to computers over the internet? for how it used to work.

Also ref: Wikipedia - Back to my Mac