Automatically join reverse proxy.

I'm trying to get ssh on remote devices. Currently I run a reverse proxy server but I have to add every connection and map every port I want by hand. This is tedious and error prone, as you can imagine. What I like about it is that once the work is done, everything stays where it is as far as telemetry is concerned. Is there a more automated way to do this. I can imagine scripting it myself, but I assume there is a more robust off the shelf option.