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.

There are various options when it comes to connecting to a machine running on a private network:

1. Running cloudflared on the client (which you already found)
2. Installing the WARP client on the user side, then using cloudflared on the server side to expose the service securely. Finally, route the network traffic for the private network on the tunnel via WARP. This approach is described in a tutorial here
3. Cloudflare started also supporting in browser rendering of an SSH session. I have wrote a tutorial describing how to set it up here.

Approach (3) would do away with the need of running a client since it relies on a simple browser.