All you really have to do with Zerotier is set up your network routing appropriately, and the end server would do reverse NAT, presumably via IPTables in most situations. Zerotier is just a virtual cable, everything else is the same as if you plugged in an ethernet cable between the two endpoints and you can run network services there just the same. Oh, you do have to enable the ZeroTier client to route public IPs for this to work.