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ASUS warns of critical remote authentication bypass on 7 routers
(www.bleepingcomputer.com)
This is a most excellent place for technology news and articles.
Yup, I did that last week and it's pretty easy. Basically:
I do it in two hops: connect to VPS then to internal computer. There are other configurations (e.g. talk to peer computers directly), but this works well for me.