Sending UDP packets over the Internet?

Assuming, as you said the ports are forwarded correctly you can send UDP packets to 2 clients behind router's.

To add to Dotmister's response, if the ports are not forwarded correctly (e.g. The router isn't statically configured to forward the ports), you will have to look into something like UDP hole punching. Either way, in order to discover a new node without some sort of central server you'll have to rely on some sort of Multicast.

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