Connecting remote camera outside the local network

I have converted a camera to RTSP and am able to view it inside my local network. I now want to be view the camera from a location that is not on my local network. IE, a security camera at a vacation home. I can do this using the Wyze app, and also using Tiny Cam Pro. Is there a way to view the RTSP stream remotely? Do I need to set up some kind of server? Or is there a way to get to the stream in the same way Tiny Cam does without a server in the home?