Zero Trust MongoDB/DigitalOcean

Hey! Setting up Zero Trust for the first time. Is there any way I can allow developers connected to the Warp VPN to have access to either MongoDB Atlas or DigitalOcean Managed Mongo? Ideally I want the Mongo service I set up to not be exposed to the open internet. So if I could allow Warp users to connect to the VPC of either of these services that would work as well
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