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Communication between Raspberry Pis on different networks
(sh.itjust.works)
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VPN server on one, client on another.
A matrix bot on each end would work too but seems unnecessarily complicated.
A VPN would be my first choice. ZeroTier works like a charm on the RPis. I've shared even SQLite databases over Samba over Zerotier among a bunch of RPis daily for a couple of years without a hitch.