I'd venture to guess you can't get rid of port forwarding. If you don't set port forwarding yourself, then you are relying on a zeroconf protocol like P2P, which sacrifices security for ease of configuration. If you research P2P, you'd get the impression that it's a secure method to use, but the security implications are horribly underrepresented and they are likely not well understood, even by security researchers as each vendor may implement it differently. P2P was and is a bad idea.
Another perspective which may not be as relevant as we are talking about residential networks, but P2P would likely never be allowed on any network of importance. P2P is designed to "punch-a-hole" through firewalls with what is effectively a reverse-shell. Port forwarding is considered the "front door" of a network and P2P effectively offers an attacker a route to access the network without even going through the firewall, so no.
With all of that said, I am unaware of a product that would help you get away from the challenges you stated without going against what we do in the first place.