Is it possible to connect a private service through cloudflare tunnels?

I understand that Cloudflare Tunnels are typically used to expose services from a private network to the public internet, but what if I want to connect one private network to another? I’ve read the documentation, and I think this is possible in some way, but I'm still pretty confused.

I have two instances connected through the same Cloudflare Tunnel. Both instances are running HTTP services, but only instance1 has access to an etcd service that instance2 needs to connect to. I want instance2 to access the etcd service on instance1 using a private hostname, without exposing any IP addresses, and for Cloudflare to handle all the DNS and routing between them privately.

Example:
  • The etcd service on instance1 (e.g., http://localhost:2379) should be accessible from instance2 via a private hostname like etcd-instance1.internal.
  • Both instances are connected through the same tunnel, and I want Cloudflare to resolve the private hostname and securely route traffic between these two private networks.
I also read that WARP could possibly be a solution here, but I believe cloudflared itself has support for WARP routing as well.
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