SSH "reverse" ProxyCommand

Using ssh tunneling it is fairly easy; first go to your Server machine and run:

ssh -R 2222:localhost:22 intermediateuser@Intermediate

this opens port 2222 on intermediate machine, reverse forwarding connections to port 22 on the server.

Then you can

ssh user@Intermediate

and from there

ssh serveruser@localhost -p 2222

Or alternatively, you might bring port 2222 on Intermediate to your workstation with:

ssh -L 2222:localhost:2222 intermediateuser@Intermediate

then:

ssh serveruser@localhost -p 2222