Pretty much, yes.
Developers for the older consoles employed all sorts of hacks and used all sorts of undocumented features.
Emulators of N64 would develop the emulator for something like 80% of the features of 80% of the games, then put in specific workarounds for the oddities of each game.
Which is why some games are better on specific emulators.
Also, decompilation lead to a greater understanding of the various glitches. DK64 and Mario 64 speedruns benefitted massively from this.
And also fun hack/mods like randomisers and hardcore modes, massively extending the games playability.
But yeh, the things devs did back in the day is bonkers
Chisel, Rathole, an SSH tunnel with port forwarding, a VPN with port forwarding.
Keywords are "self hosted tunnel" or "reverse proxy over VPN".
Run a VPS for like $5 a month, your local reverse-proxy tunnels out to the VPS, and your VPS forwards port 80/443 over the tunnel to your reverse-proxy.