Accessing services between two private networks

I wonder how to access resources between private networks.

I have network A connected via tunnel A and network B connected via tunnel B.

I have virtual machines deployed in both networks. Is it possible to grant access to all virtual machines in network A to resources in network B (e.g. sending Backups).

I can access both networks using the Warp client, but I would like to connect the two networks with cloudflared only, so I don’t need to install the warp client on each vm.

So far all the documentation I’ve read covered only a single private network, or using vnet with more networks. Without specifying a vnet, both private networks are part of the default vnet, but I still can’t connect via ssh from a machine in network A to one in network B.