You have an SSH server A behind a firewall that you wish to connect to. You have no control over the firewall but has an account on an open SSH server B on the internet outside the firewall. You can setup a reverse tunnel from A to B so that you can connect to A through B from anywhere.
In the SSH configuration file A:~/.ssh/config, add the following section
Host b-tun
HostName B
ServerAliveInterval 30
ExitOnForwardFailure yes
RemoteForward 8822 localhost:22
Afterward, you can create the reverse tunnel on A by running ssh -Nf b-tun. and login with your credential on B or setup key authentication for automatic login. If the tunnel has been created successfully, you can now connect to the port 8822 of localhost on B to login to A, e.g., ssh -p 8822 localhost. If you have access to the nc command on B, you can add the section below to the ~/.ssh/config on a machine outside the firewall:
Host A
ProxyCommand ssh -qax B 'nc -w 600 localhost 8822'
ServerAliveInterval 30
You will then be able to connect to A with a simple ssh A on that machine.
You can also make the creation of the reverse tunnel automatic by creating a systemd unit, say, ~/.config/systemd/user/b-tun.service with the content
[Unit]
Description=Create SSH tunnel through B
After=network-online.target
[Service]
Type=idle
ExecStart=/usr/bin/ssh -N b-tun
RestartSec=39
Restart=always
[Install]
WantedBy=default.target
and start the process with systemctl --user start b-tun.service. You may need to enable unattended job for the user on A with loginctl enable-linger user as the root on A. To make the service start on boot automatically, you need to enable it with systemctl --user enable b-tun.service.