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When does I need to use VPN NAT traversal ?
If the NSG is located behind the NAT gateway then you will need to configure the NAT Traversal.
If the scenario is Server-to-client, then there is no need to configure the NAT Traversal. Since it is using dynamic VPN, the server role must use public IP and it doesn't matter for the client role to use public or private IP.
In Site-A go to Security gateway> Site-to-Site VPN. Put the public IP in the NAT traversal field. Same action on Site-B.
Be aware that if your scenario is Server to client then you cannot use NAT traversal, since the server site must use a public IP.
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