I do it this way on my machines running Linux Devuan OS;
Install Tor openssh-server on your server.
Setup a hidden service and stealth cookie for each remote user (Peter and Paul)
Add the following to your server torrc file;
HiddenServiceVersion 2 #(note version 3 HS no longer supports torsocks ssh)
HiddenServiceAuthorizeClient stealth Peter, Paul
HiddenServicePort 22 127.0.0.1:22
waocn6y277pycxqe.onion pMaCvZ9O96oicewJOQIpdB # client: Peter
ahc6pdvxjc3ojchv.onion f3cJeHARFIbGx+TX0itZex # client: Paul
The 16 characters plus .onion is the hidden service address and
second column is the stealth authentication cookie.
Provide the onion address and the stealth cookie to the intended
recipient, Peter and Paul.
To access the system Peter and Paul need to add the stealth cookie,
to their torrc file as follows;
HidServAuth waocn6y277pycxqe.onion pMaCvZ9O96oicewJOQIpdB # client: Peter
HidServAuth ahc6pdvxjc3ojchv.onion f3cJeHARFIbGx+TX0itZex # client: Paul
Restart Tor on these machines
HOW TO CONNECT
Install torsocks on the remote machines.
Peter can now access the system using the following command:
torsocks ssh waocn6y277pycxqe.onion
torsocks ssh ahc6pdvxjc3ojchv.onion
Set the ssh-server to accept connections on the ssh-hs onion address and the address 127.0.0.1:22(same as HS)
Add users Peter, Paul to sshd on the server.
Peter and Paul must install sshuttle on the remove machines
Connect to server from the remote machines by means of the following commands;
sshuttle --no-latency-control --dns -r email@example.com 0.0.0.0/0
sshuttle --no-latency-control --dns -r firstname.lastname@example.org 0.0.0.0/0
This was my original reference;
Chuck Peters https://axs.org/tor/ssh_access_over_Tor.html but unfortunately
the site no longer seems to exsists.