Is there any way to connect to Wireguard behind a Carrier-grade NAT?

On SIDE_A I have a backup LTE connection, without proper public ip, only
dynamic ip and I server with Wireguard.

SIDE_A = mobile LTE connection, without public IP, behind carrier grade NAT
SIDE_A_SERVER = WIREGUARD (connecting to sideb.dyndns.org)

SIDE_B = VDSL with public ip + ddns (sideb.dyndns.org)
SIDE_B_SERVER = WIREGUARD (cannot connect to SIDE_A, because no public ip
on SIDE_A)

I heard of Wireguard-P2P, but it's not running on headless server, because
one of their component requires x11.


Best regards,
Adrian