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apache 2.2 - SSH to different devices behind router using domain names without Nginx/Reverse Proxy?

I'd like to access multiple different devices residing on my home network, from anywhere else in the world, using custom domain names.



I'm running a standard (commercial) router provided by my ISP, and don't have the option to change (they won't provide login info for the ADSL connection required by a third-party router).



I'm aware of how to access things like my Raspberry Pi running web services with Nginx/Apache/Reverse proxy, but would like similar functionality (access to individual devices via unique domain names) for things like SSH too. Reverse Proxy's typically only handle HTTP(S) traffic, so aren't applicable for this scenario.



One comment below mentions IPv6, but how would this actually be achieved through standard commercial routers?

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