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On Azure I've got a resource group with 1 vnet containing 2 servers; master and worker. Only master has a public IP.

Using "plain" ansible I can manage both servers by defining worker's private IP as ansible_host in the hosts file and creating a group_vars file with a ssh ProxyCommand arguments to apply for worker's group as described for a jump host here (note there are older methods too which involve direct ssh config but the group_vars approach is preferable I think as it is more portable to other users).

However this approach needs IPs to be hardcoded which isn't great on azure. There's an azure_rm script or plugin (depending on ansible version) which will provide dynamic inventory avoiding the need for a hosts file but how I can I do the equivalent of the ProxyCommand setup in this case?

This situation must be pretty common so I feel like I must be missing something.

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