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Communication between Raspberry Pis on different networks
(sh.itjust.works)
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The easiest & cheapest option would be to expose one of the devices to the internet on a known port and connect from the other device to that one with SSH.
Once you've got a connection, you can do pretty much anything you want, including writing to a pipe or even a file and polling it.
If you don't want to expose either, then you need a third party to facilitate the connection that is on the Open internet, though that server can be yours too. Even a €4/mo box at Hetzner would do it.
If these options sound good, let me know and I can be more detailed.
All of the answers I got so far were great. I'll probably use a messaging service though but thank you very much