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What holds true for NAT also holds true for any other router that is between you and the SSH server you are logging onto.
As such in my experience you need to make use of SSH's keepalive options regardless if you leave sessions open and idle if you don't want disconnects.
If you are getting disconnected while you are active in the session then the problem lies elsewhere. However nowhere in the thread do you state that.
In the interim and it's best practice especially if a disconnect could be a problem to run inside a screen on the server. That way if you do suffer disconnect you can just log back on and reconnect to the screen and pick up exactly where you left off. In fact you can also see any output that has been generated in the meantime. Anything like a firmware update, fsck or simple yum/apt update should be done in a screen if it is on a remote machine, where remote is any machine your keyboard is not directly connected via USB/PS2.
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