Any way to run a dedicated server without port forwarding?

Hi so I wanted to set up a dedicated server without port forwarding as the title says. As far as I understand, terraria uses steam datagram relay (for example when you join via steam).

Now if I have a dedicated server, people can join with IP, which would require port forwarding.

Otherwise, I did see an automated message which recommended to join the dedicated server on your own computer (local) and then invite friends to it. However, this is useless for me, because the point is to run a server and my friends can join whenever they want, even if I'm not on.

So is there any way for friends to connect to the server without me being in the server and without port forwarding?
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