How to access a Linux server behind NAT via reverse SSH tunnel

You are running a Linux server at home, which is behind a NAT router or restrictive firewall. Now you want to SSH to the home server while you are away from home. How would you set that up? SSH port forwarding will certainly be an obvious option. However, port forwarding can become tricky if you are dealing with multiple nested NAT environment. Besides, it can be interfered with under various ISP-specific conditions, such as restrictive ISP firewalls which block forwarded ports, or carrier-grade NAT which shares IPv4 addresses among users.