Nodes are not assigned public IP. If you have accessible VM in the same VNET as worker nodes, then you can use that VM as jump host and connect the worker via private IP. Alternatively public IP can be assigned to a worker node. This readme shows how to do that.
Run this:
resource_group=<resource group name where aks resources are created>
vm_name=<name of the existing vm here>
az vm nic list --vm-name $vm_name -g $resource_group
Grap the nic name and run this:
vm_nic_name=<name of the nic output above (not full id)>
az network public-ip create -g $resource_group -n ${vm_name}-ip
az network nic ip-config list --nic-name $vm_nic_name -g $resource_group
Grap the output nic ipconfig name and run this:
ip_config_name=<ip config name from above output>
az network nic ip-config update -g $resource_group --nic-name $vm_nic_name --name $ip_config_name --public-ip-address ${vm_name}-ip
Connect with SSH
ssh azureuser@$(az network public-ip show -g $resource_group -n -n ${vm_name}-ip)