Every once in a while I wonder how the SOCKS5 stuff works at the protocol level, I would like to be able to SSH out without running a proxy process locally, jus

Every once in a while I wonder how the SOCKS5 stuff works at the protocol level, I would like to be able to SSH out without running a proxy process locally, just talk to the ssh deamon on the relay server directly. The OpenSSH code is a bit dense but it looks like it creates dynamic tunnels that are torn down when the connection closes. Anyone confirm that is what happens behind the scenes?