Using SSH to Create a Reverse Tunnel to Access Linux Through NAT
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Quick version of the above:
ssh -fN -R 10022:localhost:22 [email protected]
All you have to do is change jumpserver.com to the FQDN or IP address of the server you want to connect "from" and change sam to your username there. Done. The TCP port on the server will be 10022, you can change that as needed.
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Now from the server that you just connected to you can do something like this...
ssh root@localhost -p 10022