Not necessarily, NPT is stateless as the only thing changing is the network prefix (hence NP). The host portion of the address doesn’t change and the ports stay the same on both sides of the translation.

There would still need to be some form of global address discovery, but that’s a much simpler problem to solve in nearly all scenarios.

You’d still have the issue of whether the firewalls in between you and the remote end allow that connection through in the first place though.