If your ISP uses CGNAT, it means you do not have a public IPv4 address. But you probably still get fully functional IPv6 so if you learn how IPv6 works you can use that.
If all the camera remote access is done by connecting directly to cameras or directly to an NVR appliance, then Zerotier will be difficult to use. Because you can't install Zerotier on the cameras or NVR. You'd need a router that supports Zerotier (opnSense for example), and even then the routing could be tricky (I've never tried).
If you learn how IPv6 works, then you can probably use that for the remote access just like you were using IPv4 before. There are two main differences between IPv4 and IPv6: The addresses look very different when written out, and there is no shortage of IPv6 addresses. The idea behind IPv6 is that every internet subscriber gets at least 18,446,744,073,709,551,616 addresses (no exaggeration) to use as they see fit, all of them publicly routable. So you statically assign one of the addresses in your allotted range to whatever device you want, open port(s) in the router's firewall to allow the inbound connections you want to be allowed, and that is that. It is very similar to forwarding a port with IPv4, except you don't have to worry about a distinction between public and private addresses. At least that is how it is in theory. In practice, some routers have shitty IPv6 support. and some ISPs (particularly smaller ones) have shitty or non-existent IPv6 support. So you can run into obstacles.
If the router has VPN server capability, you could use that with the router's IPv6 address (which hopefully doesn't change). Then you connect to the VPN using IPv6, and once connected you can connect to the NVR or cameras using their IPv4 LAN addresses.
Or you could assign the NVR a static IPv6 address and open the necessary port(s) in the router's IPv6 firewall similar to how you port forwarded in the past using IPv4, and connect directly to the NVR using IPv6. You still take on the risk of the NVR's cybersecurity problems this way, but you also don't have to deal with a VPN connection so it is a tradeoff.