ORBI

If you port forward the camera(s) they will be exposed on the internet and can be attacked (cameras aren't exactly know to be secure or updated).  I would use the VPN capability built into the Orbi and use a VPN client to tunnel through to your internal network so you can see all cameras on your network with one configuration.  Of course you need a VPN client on your device like OpenVPN with the configuration installed from the router VPN.  Also may need DDNS configured to keep OpenVPN embedded in the router aware of your public IP.

If you want to port forward each camera, you will need a port forwarding configuration for each camera by finding out which port(s)/protocols(s) they communicate on and configuring those in the router Advanced->Advanced Setup->Port Forwarding and pointing to the internal IP address of the camera.  But then you also need a public static IP ($) or some sort of domain name ($) to DDNS working on the camea or router so that when you try to connect to the camera via your domain name ($) it can send the traffic back to the right (public) IP.   I suggest using the router DDNS and VPN instead in the Advanced Setup - more secure, built in and less hassle.