As others have written: you don’t need any special measures to learn the public address behind which your router is NATed, but knowing that address is not sufficient to make an L2TP server listening at your router accessible from the internet.
So one way to establish a VPN between two routers is to establish a VPN tunnel from both to a third router on a public IP.
Another way is to use an IKEv2 IPsec site-to-site tunnel where both routers act as initiators, but it is only possible if the NAT devices between each of your two routers and the internet keep the source UDP port unchanged whenever possible. See more here.