Short answer: no, cgNAT makes it impossible to open ports to the open internet, as a consequence your remote roadwarrior doesn't have anything it could connect to.
Medium answer: You could connect from your cgNATed router to an intermediary server (outgoing) with a public IP, so both roadwarrior and router both connect to a common intermediary server/ network and find each other that way.
Long answer: There are options like skype has been doing, hole punching its way through the NATs/ firewalls, unetd is such an implementation (but it's rather underdocumented).
tl;dr: so even though it is not possible, there are still ways to cheat around it in a way to make it working.
Post scriptum: I'm using wireguard and am behind cgNAT myself, my solution is to use IPv6 (exclusively) to reach my router's wireguard endpoint, this works reasonably well (all wired ISPs offer at least dynamic IPv6 prefixes by now (sadly private hotspots, guest networks, enterprise networks often don't enable it, nor does international roaming, most of the time) and all (most?) mobile carriers do support IPv6 by now as well (might need setting a special APN and explicitly opting into their IPv6 programme). For me, that (in combination with my semi-static /56 IPv6 prefix, before that with a different ISP and dynamic prefixes, I used Hurricane Electric's 6in4 /48 tunnel for that purpose) that is 'good enough™' to reach my own home network, so I didn't need to look into unetd myself.