This isn't an inherently unsolvable problem. Peer-to-peer file sharing and video calls have been able to work around it for ages.
The same approach could be used for cameras - see for example Home Assistant's remote access. Sure, you'd still need a cloud-based STUN-like discovery service, but a small one-time fee should easily cover operating it.
Right..Or instead of STUN/TURN just use Tailscale for now. I think the reason no one's packaged this into a slick Ring-like plug-and-play probably comes down to corporate greed and how hard it is to raise money if your intention is to start a business that doesn't have ever-expanding verticals. Like, this is a set of solved problems. They just need to be smoothed and packed for the user.