Se você pode ssh fora do Pi, você pode usar -R 1234:localhost:22
e, em seguida, ssh vps -p 1234
:
-R [bind_address:]port:host:hostport
Specifies that the given port on the remote (server) host is to
be forwarded to the given host and port on the local side. This
works by allocating a socket to listen to port on the remote
side, and whenever a connection is made to this port, the connec-
tion is forwarded over the secure channel, and a connection is
made to host port hostport from the local machine.
Port forwardings can also be specified in the configuration file.
Privileged ports can be forwarded only when logging in as root on
the remote machine. IPv6 addresses can be specified by enclosing
the address in square braces or using an alternative syntax:
[bind_address/]host/port/hostport.
By default, the listening socket on the server will be bound to
the loopback interface only. This may be overridden by specify-
ing a bind_address. An empty bind_address, or the address '*',
indicates that the remote socket should listen on all interfaces.
Specifying a remote bind_address will only succeed if the
server's GatewayPorts option is enabled (see sshd_config(5)).
If the port argument is '0', the listen port will be dynamically
allocated on the server and reported to the client at run time.