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I know uPnP sounds scary when you first read how it works, but the security
liability of it is overblown.

The thing is, for something to be behind your router forwarding ports in
past the NAT you have to already be executing arbitrary code on that system.
So in theory yes, you could go forward in ports to common windows services
hoping the system is not updated and can then be hit by an OS or other
listening service vulnerability, or possibly point that forward to other IPs
in the network. But why WOULD you do that? You're already on the system,
executing arbitrary code. Just perform a direct outbound connection to your
C&C server (since there's not going to be any outbound filtering or
monitoring anyway), pull down more malicious payloads, and use that foothold
to directly replicate to anything you can behind the router. It just doesn't
make sense to try to exploit uPnP because you're already in and there is
nothing to be gained from it. Sure, disable it for business or public wifi
networks but for home use the benefit and convenience far outweigh the
non-existent security issue.

Home systems are going to be a liability but there are a few things you can
do to address it. Some VPN products have client-based health check agents
that can verify that they are at least complying with your security/update
policies which reduces the likelihood of the system being compromised. Or
you can severely restrict the ports/IPs that the system can access through
the VPN tunnel once it is connected, minimizing the exposure to the network
on the other side. Or you funnel all connections in through remote sessions
on trusted equipment (RDP, PCoIP, VPN, Citrix, Whatever) and reduce that
system at home to a glorified fat-client. Or probably a combination of all
three. Worrying about uPnP at this point is missing the forest for the trees.