If the entire thing was set up correctly, there wouldn't need to be any kind of work-around. I have two servers that I access from outside my home network, and several more VM's that I can access from inside my network. I have the two outside facing with port forwarding through my router to make sure that works.
How many physcial NIC's are in your ESXi host? You need to have some of the networking assigned for VM traffic. Without that, you won't be able to connect to those VM's other than with the vCenter/vSphere console. You should have one vSwitch for the management console traffic and at least one other for virtual system traffic.
I've attached a screenshot of the way my vSwitches are configured. Hopefully it will help to clear things up for you.
VCP4