Configuring Zero Trust with SSH

Hey, I am completely green with this. I would like to setup Zero Trust tunnel that uses SSH. I want it to not use cloudflared on client side. Can anyone provide a configuration tutorial for configurating that thing. I am running cloudflared on CasaOS but in a moment I will use it on a container on TrueNAS. The Zero Trust worked perfectly fine with http but when I try to use it with ssh everything goes downhill. Can anyone help?

If you want to have any software client side for SSH then you have to use browser rendered SSH