The second SSH is to a port on your localhost. The first SSH is to the WAN address of your router. The first time to set up the port forwarding, and then the second time to SSH to the target device via the forward you just set up. It does require you to be able to SSH into your router though, and that may be turned off by default. Think of "SSH local port forwarding" as a more secure substitute for "forwarding ports in your router". Local port forwarding is different than the dynamic port forwarding they are talking about in those articles, so don't get confused there. Note: You will see many internet articles on bypassing firewalls that use "SSH dynamic port forwarding and a SOCKS proxy". Nor do you have to forward ports in your router. You don't need VPN for that, and you don't need any special SSH setup on your router either. You can even get the functionality to connect to devices on your LAN by SSH'ing into your router and using local port forwarding to to set up a path to reach your LAN devices. If I just want to connect to a single device on my LAN, SSH works for that. I've always used VPN to connect to a network (my LAN), and your router is generally the best place to implement that. Why do you want to VPN into your Pi, as opposed to VPN'ing into your router (unless your Pi *is* your router)?
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