One can access a remote private server through tor. That is, tor is the bridge connecting you to remote server.
Set up tor hidden service on remote computer to be accessed
echo -e "HiddenServiceDir /var/lib/tor/ssh/\nHiddenServicePort 22 127.0.0.1:22" \
| sudo tee -a /etc/tor/torrc
sudo systemctl start tor
sudo systemctl enable tor