I have been working on this setup for a while now. It's finally working.
The heart to it is the custom code I wrote for the ESP8266 to serve as a UART - TCP client that connects to a server in the internet. The GCS connects to the same server. The server is running a TCP relay software.
I had to do all this work due to the fact that it's not possible to connect directly to the Wifi module from the Internet since it is getting Carrier Grade NAT. This means it's not possible to do NAT and connect to it. So I had to have the ESP8266 act as a UART - TCP client instead of a server. This way, the ESP8266 would start the connection to my cloud server, which has a known IP.
I get a reliable connection for hours. Latency is well under a second.
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