Can pwnat be used for connection when client and server are behind NAT?

Question

I'm trying pwnat from this link, but I have a couple issues.

https://samy.pl/pwnat/

1. Can this be used to establish a connection when both client and server are behind NAT?
2. If yes, then what syntax would I use to establish a SSH connection? (Explained for a dummy)

I've tried following the instructions from these links

https://www.sumitgupta.net/pwnat-example/ https://www.kali.org/tools/pwnat/

And I get the message "Listening on UDP", but I'm unable to establish any connection.