... and the answer to the Q is? 
You didn't read the article I posted, did you?
For your convenience:
"While it is true that stateful ingress IPv4 NAT will reject externally initiated TCP traffic, that does not mean that an external host cannot in certain situations send traffic to internal hosts or use other methods to circumvent the NAT. In fact, most network-based attacks assume this as a requirement of the compromise.
There are several ways to accomplish this circumvention, all of which can be prevented by a firewall. First, an attacker can either use a targeted or a sweep attack to send traffic to ports that are open in the NAT device’s state table. The purpose of this attack could be to create a denial-of-service (DoS) by invalidating an existing session on the host or NAT state table, to footprint an internal network, or to inject a malware payload into a third party’s existing session in an effort to compromise the internal host. Serious implications are seen in UDP traffic that is by design stateless; however, the same could be accomplished (given host susceptibility) in TCP or other protocols. In addition, NAT may not provide protocol conformance, sequence number checking, or any other layer 2 or layer 3 DoS security measures that firewalls or advanced security devices inherently provide. NAT also provides no tools to respond should security breaches occur."
That article is about carrier grade use of NAT.. If you read it carefully (and RFCs linked in it) you will see that there are many things called NAT..
NAT we are talking about (one implemented on all Internet routers) is Masquerade NAT, a stateful Network Address Port Translation (NAPT), outbound direction type. With IOT devices that use only outbound SSL connections there is very low probability of compromise by outside actor. If you have internally compromised network that is not router or IOT device fault. If you have IOT device that is compromised that is not router's fault.
There is this prevalently bad thinking in IT security industry (driving up the FUD to pump up profits, most likely) that ANYTHING is possible. There is also a lot of people that really don't understand how things really work, so if someone says "there was this exploit on this version of XYZ by ThatNetworkCompany because they bodged that particular implementation, in next version of security scanners ALL versions of XYZ older than newest patch are proclaimed unsafe, even for hundreds for manufacturers that didn't screw up implementation and are perfectly fine... Because it is easier to just forbid certain name/version number than to expect security experts to actually think and do their job...
NAT is not firewall in a sense it simply isn't. NAT does this specific stateful network traffic filtering. It doesn't do (deep) packet inspection, doesn't monitor traffic, you cannot create application layer filters..
But it will prevent you to connect from the outside to internal network..
For instance, there is this "NAT attack":
NAT Slipstreaming allows an attacker to remotely access any TCP/UDP service bound to any system behind a victim's NAT, bypassing the victim's NAT/firewall (remote arbitrary firewall pinhole control), just by the victim visiting a website.So you read it and it has nothing to do with NAT, i.e. NAT was not compromised. User from secure network behind the NAT connected to server that installed exploit to your PC(internal device) and now you have malware bot inside your network...
This is not NAT problem or attack. It is disingenuous by industry to proclaim it is.. And ANY and ALL malware Command-and-control attacks for many years are doing just that, how is that new thing in 2020 and specifically connected to NAT ?
Reaction to this by industry was supposed to be education campaign to educate people that NAT is not going to protect you from this kind of malware exploit because it specifically was not design to be firewall but simple stateful network filter. Proper name for that type of exploit would be Malware slipstreaming, and recommendation would be to install antimalware software on critical nodes... It has nothing to do with NAT. Yes a good FW would also be able to maybe detect something wrong..
Also DDOS attacks are carrier problem and not a SECURITY problem, but availability problem. Unless you have janky router/fw that will core dump and reboot into telnet session with exposed root access when subject to DDOS...