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In the Yggdrasil network any node can act as relay for other nodes. So you can get to unreachable nodes via reachable nodes, as long as there's a possible path through the network graph.
The community also maintains a few nodes with static public addresses, specifically so they can be used as entry points into the network.
Each node has two addresses, one used for communications inside the network and one used for peering. The inner address is IPv6 allocated randomly from the reserved
0200::/7range and never changes (unless you wipe and re-configure the node). The peering address needs to be public and static, yes, but can be either IPv4 or IPv6 fwiw.You only need to peer with one such public and static address to be able to reach other nodes, as long as there's a path to them among all the peers in the graph. If you're taking advantage of the larger Yggdrasil network that is taken care of by the public community nodes. If you want to set up your own separate network then you need to set up at least one node with a public static address. But you can also use a domain name and do DDNS for example.
Thanks, this was quite detailed. You do need public relay nodes after all... which was what I was wondering.