Let's assume that Destination's IP is 192.168.20.55 (Linux box that you want to access).
You want to access from Linux client with IP 138.47.99.99.
Destination (192.168.20.55) <- |NAT| <- Source (138.47.99.99)
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SSH from the destination to the source (with public ip) using command below:
ssh -R 19999:localhost:22 [email protected]
- port 19999 can be any unused port.
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Now you can SSH from source to destination through SSH tuneling:
ssh localhost -p 19999