Connect through CLI SSH Zero Trust

Is it possible to make the first ssh connection from cli (github action ubuntu) instead of this? "When the command is run, cloudflared will launch a browser window to prompt you to authenticate with your identity provider before establishing the connection from your terminal." https://developers.cloudflare.com/cloudflare-one/connections/connect-networks/use-cases/ssh/#native-terminal
Cloudflare Docs
SSH · Cloudflare Zero Trust docs
The Secure Shell Protocol (SSH) enables users to remotely access devices through the command line. With Cloudflare Zero Trust, you can make your SSH …
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