'using cloudflared to do ssh tunneling accesible by the interenet without need to run cloudflared on the otherside

I have a raspi machine behind NAT in my room, and I want to access it from the interenet using the URL.I found this article. https://developers.cloudflare.com/cloudflare-one/tutorials/ssh However, it required me to run the cloudflared program on the connecting client. I understand that this is for the security purpose. Does it possible to make the connect without running the cloudflared program on the client machine.

A follow-up question would be is it possible to ssh into ipv6 machine that using the same technique.



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