nothing about IPv4 or NAT requires the servers of "evil companies" to access hosts remotely.
When an entire neighborhood shares an IPv4 address through ISP-controlled carrier-grade NAT, how does a device on subscriber premises receive an incoming TCP connection? How would the NAT appliance even know for which subscriber's device the connection is intended?
Consider a subscriber whose home LAN is behind the ISP's carrier-grade NAT, and the subscriber wants to connect to a home NAS or remote desktop from outside the home LAN. Other people have recommended that such a subscriber additionally subscribe to a relay service such as Tailscale or Hamachi. And if they want visitors from the Internet to reach their home server, it gets even more expensive.