Cloudflare Tunnels in k8s without ingress

There’s quite a bit of documentation around using Cloudflare Tunnels with k8s: https://developers.cloudflare.com/cloudflare-one/tutorials/many-cfd-one-tunnel

However, this assumes the k8s service is OK with being routed through ingress using (I assume) round-robing load balancing. My use-case is different: I want to have a CF worker that “selects” a non-busy pod (using a message queue) and route the request there.

So the setup would have to be: a shared virtual network between the CF worker and the cluster (k8s pods), using a tunnel that allows accessing all pods directly on their localhost:port service.

Is this possible? It seems that using warp-routing, each pod needs their own unique IP address. Is using the recently added vnet functionality a possibility? How can I access each individual pod from the worker?