Inside podman machine ssh
# ip route
default via 192.168.127.1 dev enp0s1 proto dhcp src 192.168.127.2 metric 100
^-----------^
Copy the highlighted IP address, then add the following to your /etc/containers/registries.conf
file:
[[registry]]
prefix = "localhost:5001"
location = "IP_YOU_JUST_GOT:5001"
insecure = true
Finally, restart the podman machine.
You can test your setup with a mere docker run -p 5001:5000 registry:2
and it should work.