if they use TCP, you can, sort of, but any client that wants to connect will need to use Cloudflared
https://developers.cloudflare.com/cloudflare-one/applications/non-http/arbitrary-tcp/
you can skip the Cloudflare Access, probably (I've never tried any of this myself)
Use a decent VPS instead of trying to host off a residential internet connection behind 47 layers of NAT and you don't have to worry about 90% of that stuff
i.e. use the right tool for the job