My guess is: if they offered the version you describe, they'd need to make it much more expensive. Which many consumers would find odd: the one with fewer features would cost much more. Granted, those consumers wouldn't be looking at the big picture...but I find many consumers don't. Up front costs matter a lot to consumers.
A webcam that sends the data out to the internet then back would avoid the discovery issue by using an external webserver as a rendezvous point.
I don't think people spend a lot of time thinking about their home networking. You could imagine most people just plug in their home routers and it is a crapshoot whether or not the router will support the necessary functionality, whereas a router will always enable communication to the outside world (or people would return it ASAP).
With that said, this seems like a straightforward technical problem that may have technical solutions.
If you willing configure a NAS server somewhere, you can even record the video locally.
One of the worst offenders is Dropcam. They have a super camera, easy to set up and use. Great picture quality. Would be an awesome baby monitor or "closed circuit TV replacement". But why the goddamn hell does it need to connect to the Internet? Why is the only option available to needlessly stream video out of my home network to the cloud, only so that I can then stream it back into my home network for viewing??? WTF? That's both a waste of outbound bandwidth and a waste of inbound bandwidth. I should be able to put it on my network, switch off the cable modem, and still be able to view video locally. How hard is that? I could do that with a webcam and a really long USB cable!