Can we use Teamviewer "tunnel" Ansible to remote Servers in a company LAN?

Currently we use Ansible for server installation and configuration. This works fine for Servers where the ssh port (default or custom port) is open and can be reached over the Internet.

But we have some customers where the Servers are inside a company LAN, maybe behind a firewall - so we cannot reach this server over the Internet.

Can Teamviewer help in this case?

e.g. I'd tell the customer to download and start Teamviewer and then - if that's possible - configure Teamviewer to "tunnel" the ssh port to the customers target server.
Then I'd just start the ansible playbook on my pc as usual and the ssh traffic would be tunneled by Teamviewer to the remote server..