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Suggestions

Please have a look at our Router Configuration Tips for some detailed advice; particularly if you're running an office network.
Avoid multiple layers of NAT, such as plugging NAT routers into the LAN ports of other NAT routers. Common example: a WiFi router plugged into a cable modem, that is also a router; ask your ISP about Bridge Mode if that's the case.
Enable IPv6 on your network, if it is available. http://test-ipv6.com/ can tell you if this is the case, or not.
Enable UPnP and/or NAT-PMP if your router/firewall supports it.
VMs need to be using a bridged network adapter.
Ensure that your firewall (or AWS/Azure/Google Cloud rules) allows UDP traffic to/from port 9993 at a minimum. Also, your antivirus software may have extra "Internet Security" functionality, that has its own firewall settings.
If you're primarily a Windows user, you may need to look at the Windows Troubleshooting article. Particularly, if Windows asks you about a network setting after installing ZeroTier, use the Private option when asked.

There are a few things we need to do first:

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Use the Managed IPs to communicate as if your devices were on the same network.

Please have a look at our Router Configuration Tips for some detailed advice; particularly if you're running an office network.
Avoid multiple layers of NAT, such as plugging NAT routers into the LAN ports of other NAT routers. Common example: a WiFi router plugged into a cable modem, that is also a router; ask your ISP about Bridge Mode if that's the case.
Enable IPv6 on your network, if it is available. http://test-ipv6.com/ can tell you if this is the case, or not.
Enable UPnP and/or NAT-PMP if your router/firewall supports it.
VMs need to be using a bridged network adapter.
Ensure that your firewall (or AWS/Azure/Google Cloud rules) allows UDP traffic to/from port 9993 at a minimum. Also, your antivirus software may have extra "Internet Security" functionality, that has its own firewall settings.
If you're primarily a Windows user, you may need to look at the Windows Troubleshooting article. Particularly, if Windows asks you about a network setting after installing ZeroTier, use the Private option when asked.