One poor answer is SSH agent forwarding [1]. At best some SSH agents will prompt at each use, but that's questionable security.

Using something like magic wormhole[2] could work. SSH to both sides and run the required commands.

[1] https://matrix.org/blog/2019/05/08/post-mortem-and-remediati...

[2] https://magic-wormhole.readthedocs.io/en/latest/welcome.html