Yes, using P2P, port forward, scanning a QR code, etc. is essentially blowing a hole thru your router firewall.
If the camera is connected to the router, then it has the chance to phone home or be hacked via a backdoor vulnerability.
Further, cameras connected to Wifi routers (whether the camera is wifi or not) are problematic for surveillance cameras because they are always streaming and passing data. And the data demands go up with motion and then you lose signal. A lost packet and it has to resend. It can bring the whole network down if trying to send cameras through a wifi router. At the very least it can slow down your entire system.
Unlike Netflix and other streaming services that buffer a movie, these cameras do not buffer up part of the video, so drop outs are frequent, especially once you start adding distance. You would be amazed how much streaming services buffer - don't believe me, start watching something and unplug your router and watch how much longer you can watch NetFlix before it freezes - mine goes 45 seconds. Now do the same with a camera connected to a router and it is fairly instantaneous (within the latency of the stream itself)...
The same issue applies even with the hard-wired cameras trying to send all this non-buffer video stream through a router. Most consumer grade wifi routers are not designed to pass the constant video stream data of cameras, and since they do not buffer, you will have issues. The consumer routers are just not designed for this kind of traffic, even a GB speed router.
So between security cameras being notorious for not being very secure on the internet (ironic isn't it) and the problems with them connected to routers, it is better to simply isolate them from the rest of your internet LAN.