This is why
You shouldn't expose any ports on your router to the WAN unless you know what you're doing, and if you know what you're doing then you'll only expose ports on your router to the WAN if you are running something like DD-WRT or OpenWRT. And even then you need to be vigilant because you never when a exploit might be discovered, and there's always the possibility the bad guys knew about it and were already using it before the good guys did.
Not sure why the article mentions that firmware upgrades won't block the hole. That's true of almost all attacks whether against a router or a PC. If it is persistent enough to survive a reboot then it will also survive updates unless the update specifically targets closing the hole or just happens to luckily overwrite something it depends on. I mean if you configured your PC to run an SSH on some port and configured a user/password for it you'd expect that configuration to persist after you've run Windows update!
This is especially bad due to the age of the routers involved. ASUS isn't going to release any patches for this.