Add suport DNS srv record type to ssh client (https://www.ietf.org/rfc/rfc2782.txt)

sshsrv-proxy-command.sh

#!/bin/bash

target_host=$1

if [ ! -z "$2" ];then
    target_port=$2
else
    target_port="22"
fi

while read record;do
    if [ ! -z "$record" ];then
        host=$(echo $record | awk '{print $NF}')
        port=$(echo $record | awk '{print $(NF-1)}')

        if timeout 1 bash -c "cat < /dev/null > /dev/tcp/$host/$port" &> /dev/null;then
            target_host=$host
            target_port=$port
            break
        fi     
    fi      
done < <(dig +short SRV _ssh._tcp.$target_host @$(dig +short NS $(echo $target_host  | awk -F '.' '{print $(NF-1)"."$NF}') | head -n1) | sort -nk1)

socat STDIO TCP:$target_host:$target_port 2> /dev/null

just add -o ProxyCommand=sshsrv-proxy-command.sh %h %p on ssh command

or edit ~/.ssh/config file and put:

Host *.DOMAIN
ProxyCommand=sshsrv-proxy-command.sh %h %p

there are two dependencies to run the script: socat and dig