Route certain traffic through tunnel with access

I am looking at replacing my current VPN solution with Cloudflare Zero Trust & Access.

The one thing I do have currently, is a couple of our legacy platforms are IP restricted and I would like to keep it that way (they can’t have Cloudflared or anything installed)

These have specific domain names associated.

My question is - can I route traffic through a tunnel/SSH destination (sorry if my terminology isn’t quite right) for specific domains?

I.e. if I have a self-hosted server and the access is restricted to that IP, can I route my traffic through there when accessing a specific domain?

From the description? Yes.

I’m sorry, I don’t know what that means.

Do you mean from the Access/Zero Trust description I should be able to? Or do you have experience?