External access to asterisk SIP

Hello. Recently I started learning asterisk to make VOIP network for personal use. I configured simple dialplan and can successfully make call between 2 SIP clients in my LAN. Right now I have a task to be able to connect to my asterisk server from outside LAN.
After some searches I found several solutions : use VPN or make SIP ports public on my router.
But I’d prefer not using them.
Is there some kind of configuration that would allow, for example, my IP phone to be connected to any network with internet access and be able to connect to my asterisk server?
STUN/TURN seems to be something that I need, but I couldn’t find any specific information about it for my task.

STUN/TURN doesn’t do that. In VoIP it is for discovering your IP address.

The two options you mentioned are the options. The traffic has to get from the phone to Asterisk, which requires Asterisk being reachable in some way.