Does anyone have experience with software you can self-host a dial-out tunnel to achieve the same? I'm looking into a similar setup (connecting from an internal

Does anyone have experience with software you can self-host a dial-out tunnel to achieve the same? I'm looking into a similar setup (connecting from an internal site to a private cloud, rather than to the Internet) and would prefer not to write the software myself if I can avoid it: network programming is tricky; network programming with failover, doubly so. It's a real system with various security and compliance concerns; Cloudflare and dev-focused services like Inlet or simple SSH forwarding are unfortunately not going to work.