ESP32 connection over public internet

Any support for ESP32 boards (just like RPI4)?. just want to connect and control my ESP32 over public internet…found this website but interested in using

It depends on the OS that you are running on your device. If you are running a debian based OS and can open SSH you can install our package.

When you cannot install Remote.It directly on the device which needs to support a connection to it such as some IP cameras or control panels, you can install on a device on the same LAN such as an OpenWRT or Raspberry Pi. We call this a jumpbox and other devices and ports would be a jump service.
Instructions for this can be found here: Network Services - Jump Box

Then whoever or whatever needs to make a connection to the service needs to use Remote.It to access it.