[tukan]

Ive seen this topic but this tool will let you connect without using team viewer.

Ahh, seems you're misunderstanding the usage of rinetd.
rinetd can be the replacement of netsh / portmapper tools on the remote computer, but you still need a way / method / tunnel to make connection from you local computer to remote computer->car.
Except using Teamviewer VPN, you can use other way like ssh tunneling, or create port forwarding rules at remote router if you've admin right to it.

Can you give some more details about "ssh tunneling"??