Yes. There should have been an "easily" in there (for most people - if you're behind a NAT that your ISP forces on you, things become more complex). And I don't know that a firewall admin would want to open a permanent port that anyone on the outside could connect to (if the goal is to access the Pi from anywhere and not just one outside location).
I have quite a few firewall rules that route connections from a single outside host to a variety of internal systems depending on what port the outside system is connecting to on the firewall.
The 'classic' VNC solution was to do a reverse connection, initiated by the host, called "Connect to listening VNC Viewer". As it required people at each end to coordinate, it was most useful for isolated tech support cases.
VNC Connect uses an outside "broker" service to avoid all of this. Of course, you have to trust (and maybe pay for) that convenience.