If I use a SIP provider that uses SIP REGISTER for connections (instead of using an IP address), the outgoing registration originating from my side opens a connection to the SIP provider, and they use that same connection to send calls to me. I don't have to do any port forwarding, and I don't have to allow any incoming connections through the firewall.
I'm not asking if that is recommended. I am specifically asking if that (Outgoing SIP REGISTER) is the ONLY method that allows incoming calls to work without any port forwarding or without allowing any incoming connections (other than established connections).