Earlier quoted context omitted.
That's only true if you aren't behind CG-NAT. If you are, your firewall can port forward all it wants but it won't matter, the ISP would have to also port forward to you.
Even in this situation, your ISP can port forward to you. While not universal, some ISPs support PCP, where you can ask for a port mapping to your CGNAT-ed IP and port. They might or might not honor the external port (if it is taken, they obviously cannot), but you will get some hole punched.
But will they? Domestic ISPs are pretty hesitant to offer such, or anything at that manner.