If your local machine is not reachable from the internet, you could set up the cheapest VPS - you can get a free one for 12 months at azure.microsoft.com/en-us/free/#all-free-servicesConnect from your destination machine (the firewalled one) to the VPS, and set up a reverse tunnel. For example, drop this into your ~/.ssh/config on the destination machine:
Make sure to use SSH key auth, not passwords, and never transport secret keys off-machine. It’s easier to wipe and recreate a VPS, if you lose keys, than to explain to Security folks how you were the donkey that enabled the breach.