AWS SSM Agent can be installed on private subnet VMs allowing access to the EC2 instance through AWS EC2 console.
Described here: https://aws.amazon.com/premiumsupport/knowledge-center/ec2-systems-manager-vpc-endpoints/
Additionally, with AWS VPC Endpoints for Systems Manager using AWS PrivateLink a session can be opened directly to a VM in a private subnet.
Described here: https://docs.aws.amazon.com/systems-manager/latest/userguide/session-manager-getting-started-privatelink.html
Which allows a local terminal session to be established to a VM in a private subnet.
I have looked for similar access in Azure but haven't found anything quite like Systems Manager Session Manager like what is provided by AWS.
The closest thing I have been able to find is Azure Bastion service: https://azure.microsoft.com/en-us/services/azure-bastion/#features
And Azure Cloud Shell: https://learn.microsoft.com/en-us/azure/cloud-shell/overview
But what I am looking for is a method to connect from a terminal on a local machine to a private subnet VM without the need for a private / public key method over ssh.
Is there any such method available in Azure?