WITH SSH
There are two ways to do this
Forwarding a specific port on the target
ssh -L 1234:localhost:3306 Ubuntu@IP
Dynamic ssh port forwarding
ssh -D 9050 -i id_rsa_root root@IP
Then simply use proxychains to connect with internal system (make sure that in /etc/proxychains4.conf socks4 127.0.0.1 9050 )

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