ssh TOTP connection with jump host forwarding

How can I simplify this? Perhaps using agent forwarding?

I have an SSH jump host with 2FA via TOTP x2 and a machine which uses 2FA as well(jump host and machine):

ssh [email protected] -L 22222:my_machine.corp.com:22
# requires password + 2FA TOTP code
ssh myuser@localhost -p 22222
# requires password + 2FA TOTP code

How can I ideally simplify this (via SSH config or so) to simply call ssh myhost and then if needed be asked for the 2FA and password 2x - but not having to connect 2x

You can use the ProxyJump option of the ssh client to achieve that:

ssh -J [email protected] my_machine.corp.com

or as an entry in ~/.ssh/config:

Host my_machine.corp.com
  ProxyJump [email protected]