I was hoping if anyway could give me advice, hints, and anything about this question of mine.
laptop1.mydomain.org <-----?ssh?---> laptop2.mydomain.org Static IP Address from the DHCP client of my ISP Company LAN Server with a different domain (companydomain.org)
You've triggered my curiosity and I've tried a bit myself with ssh. I've come a little further. Imagine this network setup:
PC1 ------ Gateway -----//-----PC2
PC1: 10.0.0.N on a local network PC2: has world-wide IP address, say: x.y.z
Then you can do on PC1:
ssh -N -f -R 2200:localhost:22 x.y.z
which will create an ssh-tunnel from PC1 to PC2 as a background process, and will force PC2 to listen on port 2200, which will be connected to port 22 on PC1.
After establishing this tunnel, you can do on PC2:
ssh -p 2200 localhost
and you connect directly to PC1.
In this process, you do not need any login/password on the gateway!!
Exchanging public keys of the two PCs, will skip the password checking. You also can add lines in ~/.ssh/config, to shorten the last command.
I know in your case, both PCs are on a local network and there are two gateways inbetween. So this is not the final solution to your problem, but it may help you understand what way to go with ssh. I remember you had login/password of one gateway, which certainly may make things easier.
I hope all this helps a bit.
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